Namespace(attention='transformer', batch_size=16, cat_sampler='softmax', cycle_consistency_loss=0.1, dataset='modelnet40', discount_factor=0.9, dropout=0.0, emb_nn='dgcnn', epochs=100, eval=False, exp_name='exp_multi_gpu_v1', feature_alignment_loss=0.1, gaussian_noise=False, head='svd', lr=0.001, model='prnet', model_path='', momentum=0.9, n_blocks=1, n_emb_dims=512, n_ff_dims=1024, n_heads=4, n_iters=3, n_keypoints=512, n_points=1024, n_subsampled_points=768, no_cuda=False, rot_factor=4, seed=1234, temp_factor=100, test_batch_size=8, unseen=False, use_sgd=False)
Namespace(attention='transformer', batch_size=16, cat_sampler='softmax', cycle_consistency_loss=0.1, dataset='modelnet40', discount_factor=0.9, dropout=0.0, emb_nn='dgcnn', epochs=100, eval=False, exp_name='exp_multi_gpu_v1', feature_alignment_loss=0.1, gaussian_noise=False, head='svd', lr=0.001, model='prnet', model_path='', momentum=0.9, n_blocks=1, n_emb_dims=512, n_ff_dims=1024, n_heads=4, n_iters=3, n_keypoints=512, n_points=1024, n_subsampled_points=768, no_cuda=False, rot_factor=4, seed=1234, temp_factor=100, test_batch_size=8, unseen=False, use_sgd=False)
A->B:: Stage: train, Epoch: 0, Loss: 0.215356, Feature_alignment_loss: 0.032233, Cycle_consistency_loss: 0.004296, Scale_consensus_loss: 0.000000, Rot_MSE: 269.768463, Rot_RMSE: 16.424629, Rot_MAE: 10.563557, Rot_R2: -0.601557, Trans_MSE: 0.022195, Trans_RMSE: 0.148979, Trans_MAE: 0.105661, Trans_R2: 0.732826
A->B:: Stage: test, Epoch: 0, Loss: 0.166565, Feature_alignment_loss: 0.025816, Cycle_consistency_loss: 0.003925, Scale_consensus_loss: 0.000000, Rot_MSE: 179.643295, Rot_RMSE: 13.403108, Rot_MAE: 9.078445, Rot_R2: -0.065260, Trans_MSE: 0.015727, Trans_RMSE: 0.125406, Trans_MAE: 0.087686, Trans_R2: 0.809000
A->B:: Stage: best_test, Epoch: 0, Loss: 0.166565, Feature_alignment_loss: 0.025816, Cycle_consistency_loss: 0.003925, Scale_consensus_loss: 0.000000, Rot_MSE: 179.643295, Rot_RMSE: 13.403108, Rot_MAE: 9.078445, Rot_R2: -0.065260, Trans_MSE: 0.015727, Trans_RMSE: 0.125406, Trans_MAE: 0.087686, Trans_R2: 0.809000
A->B:: Stage: train, Epoch: 1, Loss: 0.156060, Feature_alignment_loss: 0.019597, Cycle_consistency_loss: 0.003541, Scale_consensus_loss: 0.000000, Rot_MSE: 191.985962, Rot_RMSE: 13.855900, Rot_MAE: 9.163855, Rot_R2: -0.139860, Trans_MSE: 0.019696, Trans_RMSE: 0.140342, Trans_MAE: 0.098947, Trans_R2: 0.762908
A->B:: Stage: test, Epoch: 1, Loss: 0.172647, Feature_alignment_loss: 0.022388, Cycle_consistency_loss: 0.004171, Scale_consensus_loss: 0.000000, Rot_MSE: 184.323074, Rot_RMSE: 13.576564, Rot_MAE: 8.949026, Rot_R2: -0.091553, Trans_MSE: 0.014960, Trans_RMSE: 0.122311, Trans_MAE: 0.086162, Trans_R2: 0.818860
A->B:: Stage: best_test, Epoch: 0, Loss: 0.166565, Feature_alignment_loss: 0.025816, Cycle_consistency_loss: 0.003925, Scale_consensus_loss: 0.000000, Rot_MSE: 179.643295, Rot_RMSE: 13.403108, Rot_MAE: 9.078445, Rot_R2: -0.065260, Trans_MSE: 0.015727, Trans_RMSE: 0.125406, Trans_MAE: 0.087686, Trans_R2: 0.809000
A->B:: Stage: train, Epoch: 2, Loss: 0.129551, Feature_alignment_loss: 0.016067, Cycle_consistency_loss: 0.003961, Scale_consensus_loss: 0.000000, Rot_MSE: 144.258469, Rot_RMSE: 12.010765, Rot_MAE: 7.924441, Rot_R2: 0.143962, Trans_MSE: 0.018057, Trans_RMSE: 0.134376, Trans_MAE: 0.094719, Trans_R2: 0.782601
A->B:: Stage: test, Epoch: 2, Loss: 0.134246, Feature_alignment_loss: 0.016642, Cycle_consistency_loss: 0.005216, Scale_consensus_loss: 0.000000, Rot_MSE: 121.492859, Rot_RMSE: 11.022380, Rot_MAE: 7.398189, Rot_R2: 0.279314, Trans_MSE: 0.016199, Trans_RMSE: 0.127274, Trans_MAE: 0.087189, Trans_R2: 0.803919
A->B:: Stage: best_test, Epoch: 2, Loss: 0.134246, Feature_alignment_loss: 0.016642, Cycle_consistency_loss: 0.005216, Scale_consensus_loss: 0.000000, Rot_MSE: 121.492859, Rot_RMSE: 11.022380, Rot_MAE: 7.398189, Rot_R2: 0.279314, Trans_MSE: 0.016199, Trans_RMSE: 0.127274, Trans_MAE: 0.087189, Trans_R2: 0.803919
A->B:: Stage: train, Epoch: 3, Loss: 0.120033, Feature_alignment_loss: 0.014337, Cycle_consistency_loss: 0.004830, Scale_consensus_loss: 0.000000, Rot_MSE: 136.005890, Rot_RMSE: 11.662156, Rot_MAE: 7.326164, Rot_R2: 0.192546, Trans_MSE: 0.015901, Trans_RMSE: 0.126098, Trans_MAE: 0.089600, Trans_R2: 0.808519
A->B:: Stage: test, Epoch: 3, Loss: 0.151015, Feature_alignment_loss: 0.017017, Cycle_consistency_loss: 0.005605, Scale_consensus_loss: 0.000000, Rot_MSE: 151.719452, Rot_RMSE: 12.317445, Rot_MAE: 7.628141, Rot_R2: 0.102665, Trans_MSE: 0.015072, Trans_RMSE: 0.122768, Trans_MAE: 0.089921, Trans_R2: 0.816428
A->B:: Stage: best_test, Epoch: 2, Loss: 0.134246, Feature_alignment_loss: 0.016642, Cycle_consistency_loss: 0.005216, Scale_consensus_loss: 0.000000, Rot_MSE: 121.492859, Rot_RMSE: 11.022380, Rot_MAE: 7.398189, Rot_R2: 0.279314, Trans_MSE: 0.016199, Trans_RMSE: 0.127274, Trans_MAE: 0.087189, Trans_R2: 0.803919
A->B:: Stage: train, Epoch: 4, Loss: 0.085991, Feature_alignment_loss: 0.011585, Cycle_consistency_loss: 0.004563, Scale_consensus_loss: 0.000000, Rot_MSE: 82.179367, Rot_RMSE: 9.065284, Rot_MAE: 5.812633, Rot_R2: 0.513067, Trans_MSE: 0.011954, Trans_RMSE: 0.109335, Trans_MAE: 0.078599, Trans_R2: 0.856007
A->B:: Stage: test, Epoch: 4, Loss: 0.092691, Feature_alignment_loss: 0.010410, Cycle_consistency_loss: 0.004407, Scale_consensus_loss: 0.000000, Rot_MSE: 69.282845, Rot_RMSE: 8.323631, Rot_MAE: 5.226562, Rot_R2: 0.588968, Trans_MSE: 0.009185, Trans_RMSE: 0.095839, Trans_MAE: 0.069896, Trans_R2: 0.889199
A->B:: Stage: best_test, Epoch: 4, Loss: 0.092691, Feature_alignment_loss: 0.010410, Cycle_consistency_loss: 0.004407, Scale_consensus_loss: 0.000000, Rot_MSE: 69.282845, Rot_RMSE: 8.323631, Rot_MAE: 5.226562, Rot_R2: 0.588968, Trans_MSE: 0.009185, Trans_RMSE: 0.095839, Trans_MAE: 0.069896, Trans_R2: 0.889199
A->B:: Stage: train, Epoch: 5, Loss: 0.070065, Feature_alignment_loss: 0.009725, Cycle_consistency_loss: 0.004429, Scale_consensus_loss: 0.000000, Rot_MSE: 63.459805, Rot_RMSE: 7.966166, Rot_MAE: 5.081885, Rot_R2: 0.624102, Trans_MSE: 0.009228, Trans_RMSE: 0.096062, Trans_MAE: 0.067701, Trans_R2: 0.888879
A->B:: Stage: test, Epoch: 5, Loss: 0.086186, Feature_alignment_loss: 0.009187, Cycle_consistency_loss: 0.003273, Scale_consensus_loss: 0.000000, Rot_MSE: 70.545052, Rot_RMSE: 8.399110, Rot_MAE: 4.990373, Rot_R2: 0.580991, Trans_MSE: 0.005541, Trans_RMSE: 0.074441, Trans_MAE: 0.051608, Trans_R2: 0.932769
A->B:: Stage: best_test, Epoch: 5, Loss: 0.086186, Feature_alignment_loss: 0.009187, Cycle_consistency_loss: 0.003273, Scale_consensus_loss: 0.000000, Rot_MSE: 70.545052, Rot_RMSE: 8.399110, Rot_MAE: 4.990373, Rot_R2: 0.580991, Trans_MSE: 0.005541, Trans_RMSE: 0.074441, Trans_MAE: 0.051608, Trans_R2: 0.932769
A->B:: Stage: train, Epoch: 6, Loss: 0.062978, Feature_alignment_loss: 0.008722, Cycle_consistency_loss: 0.004359, Scale_consensus_loss: 0.000000, Rot_MSE: 57.554562, Rot_RMSE: 7.586473, Rot_MAE: 4.751721, Rot_R2: 0.658759, Trans_MSE: 0.007992, Trans_RMSE: 0.089400, Trans_MAE: 0.061828, Trans_R2: 0.903766
A->B:: Stage: test, Epoch: 6, Loss: 0.083736, Feature_alignment_loss: 0.009734, Cycle_consistency_loss: 0.003386, Scale_consensus_loss: 0.000000, Rot_MSE: 68.471985, Rot_RMSE: 8.274780, Rot_MAE: 4.816195, Rot_R2: 0.593545, Trans_MSE: 0.005550, Trans_RMSE: 0.074497, Trans_MAE: 0.051284, Trans_R2: 0.932706
A->B:: Stage: best_test, Epoch: 6, Loss: 0.083736, Feature_alignment_loss: 0.009734, Cycle_consistency_loss: 0.003386, Scale_consensus_loss: 0.000000, Rot_MSE: 68.471985, Rot_RMSE: 8.274780, Rot_MAE: 4.816195, Rot_R2: 0.593545, Trans_MSE: 0.005550, Trans_RMSE: 0.074497, Trans_MAE: 0.051284, Trans_R2: 0.932706
A->B:: Stage: train, Epoch: 7, Loss: 0.049390, Feature_alignment_loss: 0.007755, Cycle_consistency_loss: 0.004043, Scale_consensus_loss: 0.000000, Rot_MSE: 45.639359, Rot_RMSE: 6.755691, Rot_MAE: 4.167243, Rot_R2: 0.729428, Trans_MSE: 0.005469, Trans_RMSE: 0.073954, Trans_MAE: 0.050834, Trans_R2: 0.934127
A->B:: Stage: test, Epoch: 7, Loss: 0.075902, Feature_alignment_loss: 0.009225, Cycle_consistency_loss: 0.003184, Scale_consensus_loss: 0.000000, Rot_MSE: 63.912506, Rot_RMSE: 7.994530, Rot_MAE: 4.878172, Rot_R2: 0.620473, Trans_MSE: 0.004415, Trans_RMSE: 0.066447, Trans_MAE: 0.045512, Trans_R2: 0.946193
A->B:: Stage: best_test, Epoch: 7, Loss: 0.075902, Feature_alignment_loss: 0.009225, Cycle_consistency_loss: 0.003184, Scale_consensus_loss: 0.000000, Rot_MSE: 63.912506, Rot_RMSE: 7.994530, Rot_MAE: 4.878172, Rot_R2: 0.620473, Trans_MSE: 0.004415, Trans_RMSE: 0.066447, Trans_MAE: 0.045512, Trans_R2: 0.946193
A->B:: Stage: train, Epoch: 8, Loss: 0.049428, Feature_alignment_loss: 0.007355, Cycle_consistency_loss: 0.004126, Scale_consensus_loss: 0.000000, Rot_MSE: 48.444592, Rot_RMSE: 6.960215, Rot_MAE: 4.207371, Rot_R2: 0.712622, Trans_MSE: 0.005142, Trans_RMSE: 0.071705, Trans_MAE: 0.049190, Trans_R2: 0.938075
A->B:: Stage: test, Epoch: 8, Loss: 0.070283, Feature_alignment_loss: 0.007020, Cycle_consistency_loss: 0.003123, Scale_consensus_loss: 0.000000, Rot_MSE: 70.916550, Rot_RMSE: 8.421196, Rot_MAE: 4.745255, Rot_R2: 0.579021, Trans_MSE: 0.003462, Trans_RMSE: 0.058837, Trans_MAE: 0.038622, Trans_R2: 0.958029
A->B:: Stage: best_test, Epoch: 8, Loss: 0.070283, Feature_alignment_loss: 0.007020, Cycle_consistency_loss: 0.003123, Scale_consensus_loss: 0.000000, Rot_MSE: 70.916550, Rot_RMSE: 8.421196, Rot_MAE: 4.745255, Rot_R2: 0.579021, Trans_MSE: 0.003462, Trans_RMSE: 0.058837, Trans_MAE: 0.038622, Trans_R2: 0.958029
A->B:: Stage: train, Epoch: 9, Loss: 0.039070, Feature_alignment_loss: 0.006167, Cycle_consistency_loss: 0.003850, Scale_consensus_loss: 0.000000, Rot_MSE: 36.910526, Rot_RMSE: 6.075403, Rot_MAE: 3.721686, Rot_R2: 0.781391, Trans_MSE: 0.003532, Trans_RMSE: 0.059432, Trans_MAE: 0.040276, Trans_R2: 0.957458
A->B:: Stage: test, Epoch: 9, Loss: 0.069589, Feature_alignment_loss: 0.006620, Cycle_consistency_loss: 0.002779, Scale_consensus_loss: 0.000000, Rot_MSE: 61.154858, Rot_RMSE: 7.820157, Rot_MAE: 4.560371, Rot_R2: 0.636662, Trans_MSE: 0.002883, Trans_RMSE: 0.053690, Trans_MAE: 0.035114, Trans_R2: 0.964985
A->B:: Stage: best_test, Epoch: 9, Loss: 0.069589, Feature_alignment_loss: 0.006620, Cycle_consistency_loss: 0.002779, Scale_consensus_loss: 0.000000, Rot_MSE: 61.154858, Rot_RMSE: 7.820157, Rot_MAE: 4.560371, Rot_R2: 0.636662, Trans_MSE: 0.002883, Trans_RMSE: 0.053690, Trans_MAE: 0.035114, Trans_R2: 0.964985
A->B:: Stage: train, Epoch: 10, Loss: 0.045224, Feature_alignment_loss: 0.006095, Cycle_consistency_loss: 0.004098, Scale_consensus_loss: 0.000000, Rot_MSE: 43.235893, Rot_RMSE: 6.575401, Rot_MAE: 4.092942, Rot_R2: 0.743794, Trans_MSE: 0.004454, Trans_RMSE: 0.066736, Trans_MAE: 0.044690, Trans_R2: 0.946366
A->B:: Stage: test, Epoch: 10, Loss: 0.059794, Feature_alignment_loss: 0.005343, Cycle_consistency_loss: 0.002739, Scale_consensus_loss: 0.000000, Rot_MSE: 49.200508, Rot_RMSE: 7.014307, Rot_MAE: 4.031521, Rot_R2: 0.707893, Trans_MSE: 0.002570, Trans_RMSE: 0.050696, Trans_MAE: 0.034441, Trans_R2: 0.968767
A->B:: Stage: best_test, Epoch: 10, Loss: 0.059794, Feature_alignment_loss: 0.005343, Cycle_consistency_loss: 0.002739, Scale_consensus_loss: 0.000000, Rot_MSE: 49.200508, Rot_RMSE: 7.014307, Rot_MAE: 4.031521, Rot_R2: 0.707893, Trans_MSE: 0.002570, Trans_RMSE: 0.050696, Trans_MAE: 0.034441, Trans_R2: 0.968767
A->B:: Stage: train, Epoch: 11, Loss: 0.036073, Feature_alignment_loss: 0.005117, Cycle_consistency_loss: 0.003826, Scale_consensus_loss: 0.000000, Rot_MSE: 34.115284, Rot_RMSE: 5.840829, Rot_MAE: 3.612137, Rot_R2: 0.798048, Trans_MSE: 0.003273, Trans_RMSE: 0.057212, Trans_MAE: 0.038671, Trans_R2: 0.960575
A->B:: Stage: test, Epoch: 11, Loss: 0.064986, Feature_alignment_loss: 0.005082, Cycle_consistency_loss: 0.003037, Scale_consensus_loss: 0.000000, Rot_MSE: 61.456974, Rot_RMSE: 7.839450, Rot_MAE: 4.406898, Rot_R2: 0.634837, Trans_MSE: 0.002984, Trans_RMSE: 0.054626, Trans_MAE: 0.036972, Trans_R2: 0.963802
A->B:: Stage: best_test, Epoch: 10, Loss: 0.059794, Feature_alignment_loss: 0.005343, Cycle_consistency_loss: 0.002739, Scale_consensus_loss: 0.000000, Rot_MSE: 49.200508, Rot_RMSE: 7.014307, Rot_MAE: 4.031521, Rot_R2: 0.707893, Trans_MSE: 0.002570, Trans_RMSE: 0.050696, Trans_MAE: 0.034441, Trans_R2: 0.968767
A->B:: Stage: train, Epoch: 12, Loss: 0.044833, Feature_alignment_loss: 0.005091, Cycle_consistency_loss: 0.004107, Scale_consensus_loss: 0.000000, Rot_MSE: 44.840679, Rot_RMSE: 6.696318, Rot_MAE: 4.017348, Rot_R2: 0.734303, Trans_MSE: 0.004292, Trans_RMSE: 0.065512, Trans_MAE: 0.043078, Trans_R2: 0.948314
A->B:: Stage: test, Epoch: 12, Loss: 0.235154, Feature_alignment_loss: 0.007406, Cycle_consistency_loss: 0.012610, Scale_consensus_loss: 0.000000, Rot_MSE: 270.785736, Rot_RMSE: 16.455568, Rot_MAE: 10.716694, Rot_R2: -0.597875, Trans_MSE: 0.034077, Trans_RMSE: 0.184601, Trans_MAE: 0.139569, Trans_R2: 0.584995
A->B:: Stage: best_test, Epoch: 10, Loss: 0.059794, Feature_alignment_loss: 0.005343, Cycle_consistency_loss: 0.002739, Scale_consensus_loss: 0.000000, Rot_MSE: 49.200508, Rot_RMSE: 7.014307, Rot_MAE: 4.031521, Rot_R2: 0.707893, Trans_MSE: 0.002570, Trans_RMSE: 0.050696, Trans_MAE: 0.034441, Trans_R2: 0.968767
A->B:: Stage: train, Epoch: 13, Loss: 0.062737, Feature_alignment_loss: 0.005718, Cycle_consistency_loss: 0.004702, Scale_consensus_loss: 0.000000, Rot_MSE: 64.392570, Rot_RMSE: 8.024498, Rot_MAE: 5.068717, Rot_R2: 0.617904, Trans_MSE: 0.006965, Trans_RMSE: 0.083459, Trans_MAE: 0.058287, Trans_R2: 0.916130
A->B:: Stage: test, Epoch: 13, Loss: 0.057452, Feature_alignment_loss: 0.005012, Cycle_consistency_loss: 0.003100, Scale_consensus_loss: 0.000000, Rot_MSE: 51.388565, Rot_RMSE: 7.168582, Rot_MAE: 4.253785, Rot_R2: 0.694849, Trans_MSE: 0.003379, Trans_RMSE: 0.058128, Trans_MAE: 0.040444, Trans_R2: 0.959025
A->B:: Stage: best_test, Epoch: 13, Loss: 0.057452, Feature_alignment_loss: 0.005012, Cycle_consistency_loss: 0.003100, Scale_consensus_loss: 0.000000, Rot_MSE: 51.388565, Rot_RMSE: 7.168582, Rot_MAE: 4.253785, Rot_R2: 0.694849, Trans_MSE: 0.003379, Trans_RMSE: 0.058128, Trans_MAE: 0.040444, Trans_R2: 0.959025
A->B:: Stage: train, Epoch: 14, Loss: 0.037415, Feature_alignment_loss: 0.004757, Cycle_consistency_loss: 0.003797, Scale_consensus_loss: 0.000000, Rot_MSE: 38.449165, Rot_RMSE: 6.200739, Rot_MAE: 3.871141, Rot_R2: 0.772291, Trans_MSE: 0.003185, Trans_RMSE: 0.056438, Trans_MAE: 0.038968, Trans_R2: 0.961639
A->B:: Stage: test, Epoch: 14, Loss: 0.054532, Feature_alignment_loss: 0.004705, Cycle_consistency_loss: 0.002754, Scale_consensus_loss: 0.000000, Rot_MSE: 47.255913, Rot_RMSE: 6.874294, Rot_MAE: 4.015331, Rot_R2: 0.719199, Trans_MSE: 0.002510, Trans_RMSE: 0.050105, Trans_MAE: 0.033999, Trans_R2: 0.969543
A->B:: Stage: best_test, Epoch: 14, Loss: 0.054532, Feature_alignment_loss: 0.004705, Cycle_consistency_loss: 0.002754, Scale_consensus_loss: 0.000000, Rot_MSE: 47.255913, Rot_RMSE: 6.874294, Rot_MAE: 4.015331, Rot_R2: 0.719199, Trans_MSE: 0.002510, Trans_RMSE: 0.050105, Trans_MAE: 0.033999, Trans_R2: 0.969543
A->B:: Stage: train, Epoch: 15, Loss: 0.032436, Feature_alignment_loss: 0.004239, Cycle_consistency_loss: 0.003702, Scale_consensus_loss: 0.000000, Rot_MSE: 32.009171, Rot_RMSE: 5.657665, Rot_MAE: 3.532316, Rot_R2: 0.810613, Trans_MSE: 0.002639, Trans_RMSE: 0.051370, Trans_MAE: 0.034846, Trans_R2: 0.968223
A->B:: Stage: test, Epoch: 15, Loss: 0.055424, Feature_alignment_loss: 0.004138, Cycle_consistency_loss: 0.002753, Scale_consensus_loss: 0.000000, Rot_MSE: 54.363628, Rot_RMSE: 7.373169, Rot_MAE: 4.164560, Rot_R2: 0.676673, Trans_MSE: 0.002424, Trans_RMSE: 0.049235, Trans_MAE: 0.033455, Trans_R2: 0.970545
A->B:: Stage: best_test, Epoch: 14, Loss: 0.054532, Feature_alignment_loss: 0.004705, Cycle_consistency_loss: 0.002754, Scale_consensus_loss: 0.000000, Rot_MSE: 47.255913, Rot_RMSE: 6.874294, Rot_MAE: 4.015331, Rot_R2: 0.719199, Trans_MSE: 0.002510, Trans_RMSE: 0.050105, Trans_MAE: 0.033999, Trans_R2: 0.969543
A->B:: Stage: train, Epoch: 16, Loss: 0.031591, Feature_alignment_loss: 0.004145, Cycle_consistency_loss: 0.003649, Scale_consensus_loss: 0.000000, Rot_MSE: 31.410295, Rot_RMSE: 5.604489, Rot_MAE: 3.463261, Rot_R2: 0.814057, Trans_MSE: 0.002653, Trans_RMSE: 0.051508, Trans_MAE: 0.035220, Trans_R2: 0.968048
A->B:: Stage: test, Epoch: 16, Loss: 0.050014, Feature_alignment_loss: 0.004131, Cycle_consistency_loss: 0.002831, Scale_consensus_loss: 0.000000, Rot_MSE: 48.187843, Rot_RMSE: 6.941746, Rot_MAE: 3.930924, Rot_R2: 0.713701, Trans_MSE: 0.002201, Trans_RMSE: 0.046913, Trans_MAE: 0.031652, Trans_R2: 0.973290
A->B:: Stage: best_test, Epoch: 16, Loss: 0.050014, Feature_alignment_loss: 0.004131, Cycle_consistency_loss: 0.002831, Scale_consensus_loss: 0.000000, Rot_MSE: 48.187843, Rot_RMSE: 6.941746, Rot_MAE: 3.930924, Rot_R2: 0.713701, Trans_MSE: 0.002201, Trans_RMSE: 0.046913, Trans_MAE: 0.031652, Trans_R2: 0.973290
A->B:: Stage: train, Epoch: 17, Loss: 0.029406, Feature_alignment_loss: 0.003979, Cycle_consistency_loss: 0.003633, Scale_consensus_loss: 0.000000, Rot_MSE: 29.694199, Rot_RMSE: 5.449238, Rot_MAE: 3.353605, Rot_R2: 0.824150, Trans_MSE: 0.002447, Trans_RMSE: 0.049469, Trans_MAE: 0.033537, Trans_R2: 0.970532
A->B:: Stage: test, Epoch: 17, Loss: 0.059463, Feature_alignment_loss: 0.004524, Cycle_consistency_loss: 0.002868, Scale_consensus_loss: 0.000000, Rot_MSE: 47.336246, Rot_RMSE: 6.880134, Rot_MAE: 4.052771, Rot_R2: 0.718835, Trans_MSE: 0.003105, Trans_RMSE: 0.055722, Trans_MAE: 0.036837, Trans_R2: 0.962189
A->B:: Stage: best_test, Epoch: 16, Loss: 0.050014, Feature_alignment_loss: 0.004131, Cycle_consistency_loss: 0.002831, Scale_consensus_loss: 0.000000, Rot_MSE: 48.187843, Rot_RMSE: 6.941746, Rot_MAE: 3.930924, Rot_R2: 0.713701, Trans_MSE: 0.002201, Trans_RMSE: 0.046913, Trans_MAE: 0.031652, Trans_R2: 0.973290
A->B:: Stage: train, Epoch: 18, Loss: 0.032352, Feature_alignment_loss: 0.004082, Cycle_consistency_loss: 0.003700, Scale_consensus_loss: 0.000000, Rot_MSE: 32.746540, Rot_RMSE: 5.722459, Rot_MAE: 3.537093, Rot_R2: 0.806167, Trans_MSE: 0.002807, Trans_RMSE: 0.052985, Trans_MAE: 0.036076, Trans_R2: 0.966191
A->B:: Stage: test, Epoch: 18, Loss: 0.059860, Feature_alignment_loss: 0.004179, Cycle_consistency_loss: 0.003228, Scale_consensus_loss: 0.000000, Rot_MSE: 49.906021, Rot_RMSE: 7.064419, Rot_MAE: 4.096198, Rot_R2: 0.703658, Trans_MSE: 0.003706, Trans_RMSE: 0.060876, Trans_MAE: 0.041514, Trans_R2: 0.954858
A->B:: Stage: best_test, Epoch: 16, Loss: 0.050014, Feature_alignment_loss: 0.004131, Cycle_consistency_loss: 0.002831, Scale_consensus_loss: 0.000000, Rot_MSE: 48.187843, Rot_RMSE: 6.941746, Rot_MAE: 3.930924, Rot_R2: 0.713701, Trans_MSE: 0.002201, Trans_RMSE: 0.046913, Trans_MAE: 0.031652, Trans_R2: 0.973290
A->B:: Stage: train, Epoch: 19, Loss: 0.028910, Feature_alignment_loss: 0.003832, Cycle_consistency_loss: 0.003534, Scale_consensus_loss: 0.000000, Rot_MSE: 29.114525, Rot_RMSE: 5.395788, Rot_MAE: 3.312443, Rot_R2: 0.827674, Trans_MSE: 0.002424, Trans_RMSE: 0.049236, Trans_MAE: 0.033337, Trans_R2: 0.970805
A->B:: Stage: test, Epoch: 19, Loss: 0.054074, Feature_alignment_loss: 0.004237, Cycle_consistency_loss: 0.002537, Scale_consensus_loss: 0.000000, Rot_MSE: 44.319218, Rot_RMSE: 6.657268, Rot_MAE: 3.751289, Rot_R2: 0.736420, Trans_MSE: 0.002202, Trans_RMSE: 0.046924, Trans_MAE: 0.031546, Trans_R2: 0.973247
A->B:: Stage: best_test, Epoch: 16, Loss: 0.050014, Feature_alignment_loss: 0.004131, Cycle_consistency_loss: 0.002831, Scale_consensus_loss: 0.000000, Rot_MSE: 48.187843, Rot_RMSE: 6.941746, Rot_MAE: 3.930924, Rot_R2: 0.713701, Trans_MSE: 0.002201, Trans_RMSE: 0.046913, Trans_MAE: 0.031652, Trans_R2: 0.973290
A->B:: Stage: train, Epoch: 20, Loss: 0.028183, Feature_alignment_loss: 0.003772, Cycle_consistency_loss: 0.003563, Scale_consensus_loss: 0.000000, Rot_MSE: 28.165556, Rot_RMSE: 5.307123, Rot_MAE: 3.257360, Rot_R2: 0.833277, Trans_MSE: 0.002330, Trans_RMSE: 0.048272, Trans_MAE: 0.032763, Trans_R2: 0.971937
A->B:: Stage: test, Epoch: 20, Loss: 0.050203, Feature_alignment_loss: 0.003329, Cycle_consistency_loss: 0.002560, Scale_consensus_loss: 0.000000, Rot_MSE: 41.345360, Rot_RMSE: 6.430036, Rot_MAE: 3.733119, Rot_R2: 0.754328, Trans_MSE: 0.002718, Trans_RMSE: 0.052134, Trans_MAE: 0.035574, Trans_R2: 0.966939
A->B:: Stage: best_test, Epoch: 16, Loss: 0.050014, Feature_alignment_loss: 0.004131, Cycle_consistency_loss: 0.002831, Scale_consensus_loss: 0.000000, Rot_MSE: 48.187843, Rot_RMSE: 6.941746, Rot_MAE: 3.930924, Rot_R2: 0.713701, Trans_MSE: 0.002201, Trans_RMSE: 0.046913, Trans_MAE: 0.031652, Trans_R2: 0.973290
A->B:: Stage: train, Epoch: 21, Loss: 0.027494, Feature_alignment_loss: 0.003593, Cycle_consistency_loss: 0.003498, Scale_consensus_loss: 0.000000, Rot_MSE: 27.785835, Rot_RMSE: 5.271227, Rot_MAE: 3.214384, Rot_R2: 0.835561, Trans_MSE: 0.002228, Trans_RMSE: 0.047201, Trans_MAE: 0.031892, Trans_R2: 0.973169
A->B:: Stage: test, Epoch: 21, Loss: 0.048111, Feature_alignment_loss: 0.003851, Cycle_consistency_loss: 0.002709, Scale_consensus_loss: 0.000000, Rot_MSE: 40.541458, Rot_RMSE: 6.367218, Rot_MAE: 3.597621, Rot_R2: 0.759186, Trans_MSE: 0.001991, Trans_RMSE: 0.044618, Trans_MAE: 0.029571, Trans_R2: 0.975797
A->B:: Stage: best_test, Epoch: 21, Loss: 0.048111, Feature_alignment_loss: 0.003851, Cycle_consistency_loss: 0.002709, Scale_consensus_loss: 0.000000, Rot_MSE: 40.541458, Rot_RMSE: 6.367218, Rot_MAE: 3.597621, Rot_R2: 0.759186, Trans_MSE: 0.001991, Trans_RMSE: 0.044618, Trans_MAE: 0.029571, Trans_R2: 0.975797
A->B:: Stage: train, Epoch: 22, Loss: 0.027268, Feature_alignment_loss: 0.003552, Cycle_consistency_loss: 0.003507, Scale_consensus_loss: 0.000000, Rot_MSE: 27.648565, Rot_RMSE: 5.258190, Rot_MAE: 3.203187, Rot_R2: 0.836252, Trans_MSE: 0.002294, Trans_RMSE: 0.047894, Trans_MAE: 0.032406, Trans_R2: 0.972377
A->B:: Stage: test, Epoch: 22, Loss: 0.043596, Feature_alignment_loss: 0.003570, Cycle_consistency_loss: 0.002706, Scale_consensus_loss: 0.000000, Rot_MSE: 39.522041, Rot_RMSE: 6.286656, Rot_MAE: 3.573402, Rot_R2: 0.765149, Trans_MSE: 0.002065, Trans_RMSE: 0.045437, Trans_MAE: 0.030017, Trans_R2: 0.974917
A->B:: Stage: best_test, Epoch: 22, Loss: 0.043596, Feature_alignment_loss: 0.003570, Cycle_consistency_loss: 0.002706, Scale_consensus_loss: 0.000000, Rot_MSE: 39.522041, Rot_RMSE: 6.286656, Rot_MAE: 3.573402, Rot_R2: 0.765149, Trans_MSE: 0.002065, Trans_RMSE: 0.045437, Trans_MAE: 0.030017, Trans_R2: 0.974917
A->B:: Stage: train, Epoch: 23, Loss: 0.026779, Feature_alignment_loss: 0.003489, Cycle_consistency_loss: 0.003537, Scale_consensus_loss: 0.000000, Rot_MSE: 26.411772, Rot_RMSE: 5.139238, Rot_MAE: 3.134944, Rot_R2: 0.843601, Trans_MSE: 0.002205, Trans_RMSE: 0.046955, Trans_MAE: 0.031792, Trans_R2: 0.973447
A->B:: Stage: test, Epoch: 23, Loss: 0.043824, Feature_alignment_loss: 0.003819, Cycle_consistency_loss: 0.002515, Scale_consensus_loss: 0.000000, Rot_MSE: 37.388084, Rot_RMSE: 6.114580, Rot_MAE: 3.485321, Rot_R2: 0.777873, Trans_MSE: 0.001981, Trans_RMSE: 0.044509, Trans_MAE: 0.029463, Trans_R2: 0.975847
A->B:: Stage: best_test, Epoch: 22, Loss: 0.043596, Feature_alignment_loss: 0.003570, Cycle_consistency_loss: 0.002706, Scale_consensus_loss: 0.000000, Rot_MSE: 39.522041, Rot_RMSE: 6.286656, Rot_MAE: 3.573402, Rot_R2: 0.765149, Trans_MSE: 0.002065, Trans_RMSE: 0.045437, Trans_MAE: 0.030017, Trans_R2: 0.974917
A->B:: Stage: train, Epoch: 24, Loss: 0.026298, Feature_alignment_loss: 0.003443, Cycle_consistency_loss: 0.003516, Scale_consensus_loss: 0.000000, Rot_MSE: 26.017794, Rot_RMSE: 5.100764, Rot_MAE: 3.139046, Rot_R2: 0.846018, Trans_MSE: 0.002089, Trans_RMSE: 0.045702, Trans_MAE: 0.030946, Trans_R2: 0.974846
A->B:: Stage: test, Epoch: 24, Loss: 0.044895, Feature_alignment_loss: 0.003408, Cycle_consistency_loss: 0.002547, Scale_consensus_loss: 0.000000, Rot_MSE: 35.710129, Rot_RMSE: 5.975795, Rot_MAE: 3.402477, Rot_R2: 0.787879, Trans_MSE: 0.002483, Trans_RMSE: 0.049826, Trans_MAE: 0.033079, Trans_R2: 0.969817
A->B:: Stage: best_test, Epoch: 22, Loss: 0.043596, Feature_alignment_loss: 0.003570, Cycle_consistency_loss: 0.002706, Scale_consensus_loss: 0.000000, Rot_MSE: 39.522041, Rot_RMSE: 6.286656, Rot_MAE: 3.573402, Rot_R2: 0.765149, Trans_MSE: 0.002065, Trans_RMSE: 0.045437, Trans_MAE: 0.030017, Trans_R2: 0.974917
A->B:: Stage: train, Epoch: 25, Loss: 0.030488, Feature_alignment_loss: 0.003524, Cycle_consistency_loss: 0.003721, Scale_consensus_loss: 0.000000, Rot_MSE: 30.809853, Rot_RMSE: 5.550663, Rot_MAE: 3.412954, Rot_R2: 0.817605, Trans_MSE: 0.002728, Trans_RMSE: 0.052231, Trans_MAE: 0.035168, Trans_R2: 0.967147
A->B:: Stage: test, Epoch: 25, Loss: 0.047397, Feature_alignment_loss: 0.003195, Cycle_consistency_loss: 0.002387, Scale_consensus_loss: 0.000000, Rot_MSE: 39.722912, Rot_RMSE: 6.302611, Rot_MAE: 3.504935, Rot_R2: 0.763900, Trans_MSE: 0.002375, Trans_RMSE: 0.048738, Trans_MAE: 0.032606, Trans_R2: 0.971174
A->B:: Stage: best_test, Epoch: 22, Loss: 0.043596, Feature_alignment_loss: 0.003570, Cycle_consistency_loss: 0.002706, Scale_consensus_loss: 0.000000, Rot_MSE: 39.522041, Rot_RMSE: 6.286656, Rot_MAE: 3.573402, Rot_R2: 0.765149, Trans_MSE: 0.002065, Trans_RMSE: 0.045437, Trans_MAE: 0.030017, Trans_R2: 0.974917
A->B:: Stage: train, Epoch: 26, Loss: 0.026535, Feature_alignment_loss: 0.003351, Cycle_consistency_loss: 0.003461, Scale_consensus_loss: 0.000000, Rot_MSE: 27.868643, Rot_RMSE: 5.279076, Rot_MAE: 3.127464, Rot_R2: 0.834913, Trans_MSE: 0.002114, Trans_RMSE: 0.045982, Trans_MAE: 0.030872, Trans_R2: 0.974535
A->B:: Stage: test, Epoch: 26, Loss: 0.045873, Feature_alignment_loss: 0.003396, Cycle_consistency_loss: 0.002399, Scale_consensus_loss: 0.000000, Rot_MSE: 35.921680, Rot_RMSE: 5.993470, Rot_MAE: 3.367178, Rot_R2: 0.786353, Trans_MSE: 0.001899, Trans_RMSE: 0.043580, Trans_MAE: 0.028870, Trans_R2: 0.976925
A->B:: Stage: best_test, Epoch: 22, Loss: 0.043596, Feature_alignment_loss: 0.003570, Cycle_consistency_loss: 0.002706, Scale_consensus_loss: 0.000000, Rot_MSE: 39.522041, Rot_RMSE: 6.286656, Rot_MAE: 3.573402, Rot_R2: 0.765149, Trans_MSE: 0.002065, Trans_RMSE: 0.045437, Trans_MAE: 0.030017, Trans_R2: 0.974917
A->B:: Stage: train, Epoch: 27, Loss: 0.028456, Feature_alignment_loss: 0.003445, Cycle_consistency_loss: 0.003436, Scale_consensus_loss: 0.000000, Rot_MSE: 28.013346, Rot_RMSE: 5.292764, Rot_MAE: 3.220472, Rot_R2: 0.834243, Trans_MSE: 0.002419, Trans_RMSE: 0.049179, Trans_MAE: 0.032967, Trans_R2: 0.970877
A->B:: Stage: test, Epoch: 27, Loss: 0.045758, Feature_alignment_loss: 0.003345, Cycle_consistency_loss: 0.002396, Scale_consensus_loss: 0.000000, Rot_MSE: 39.486084, Rot_RMSE: 6.283795, Rot_MAE: 3.494423, Rot_R2: 0.765145, Trans_MSE: 0.001828, Trans_RMSE: 0.042756, Trans_MAE: 0.028580, Trans_R2: 0.977731
A->B:: Stage: best_test, Epoch: 22, Loss: 0.043596, Feature_alignment_loss: 0.003570, Cycle_consistency_loss: 0.002706, Scale_consensus_loss: 0.000000, Rot_MSE: 39.522041, Rot_RMSE: 6.286656, Rot_MAE: 3.573402, Rot_R2: 0.765149, Trans_MSE: 0.002065, Trans_RMSE: 0.045437, Trans_MAE: 0.030017, Trans_R2: 0.974917
A->B:: Stage: train, Epoch: 28, Loss: 0.024091, Feature_alignment_loss: 0.003168, Cycle_consistency_loss: 0.003299, Scale_consensus_loss: 0.000000, Rot_MSE: 24.170063, Rot_RMSE: 4.916306, Rot_MAE: 2.967035, Rot_R2: 0.856998, Trans_MSE: 0.001853, Trans_RMSE: 0.043044, Trans_MAE: 0.029035, Trans_R2: 0.977685
A->B:: Stage: test, Epoch: 28, Loss: 0.041392, Feature_alignment_loss: 0.002991, Cycle_consistency_loss: 0.002421, Scale_consensus_loss: 0.000000, Rot_MSE: 34.584663, Rot_RMSE: 5.880873, Rot_MAE: 3.289519, Rot_R2: 0.794373, Trans_MSE: 0.001753, Trans_RMSE: 0.041871, Trans_MAE: 0.027789, Trans_R2: 0.978691
A->B:: Stage: best_test, Epoch: 28, Loss: 0.041392, Feature_alignment_loss: 0.002991, Cycle_consistency_loss: 0.002421, Scale_consensus_loss: 0.000000, Rot_MSE: 34.584663, Rot_RMSE: 5.880873, Rot_MAE: 3.289519, Rot_R2: 0.794373, Trans_MSE: 0.001753, Trans_RMSE: 0.041871, Trans_MAE: 0.027789, Trans_R2: 0.978691
A->B:: Stage: train, Epoch: 29, Loss: 0.023653, Feature_alignment_loss: 0.003213, Cycle_consistency_loss: 0.003283, Scale_consensus_loss: 0.000000, Rot_MSE: 22.936661, Rot_RMSE: 4.789223, Rot_MAE: 2.896895, Rot_R2: 0.864394, Trans_MSE: 0.001799, Trans_RMSE: 0.042417, Trans_MAE: 0.028610, Trans_R2: 0.978331
A->B:: Stage: test, Epoch: 29, Loss: 0.045168, Feature_alignment_loss: 0.003461, Cycle_consistency_loss: 0.002460, Scale_consensus_loss: 0.000000, Rot_MSE: 36.109211, Rot_RMSE: 6.009094, Rot_MAE: 3.268096, Rot_R2: 0.785185, Trans_MSE: 0.001873, Trans_RMSE: 0.043277, Trans_MAE: 0.028947, Trans_R2: 0.977244
A->B:: Stage: best_test, Epoch: 28, Loss: 0.041392, Feature_alignment_loss: 0.002991, Cycle_consistency_loss: 0.002421, Scale_consensus_loss: 0.000000, Rot_MSE: 34.584663, Rot_RMSE: 5.880873, Rot_MAE: 3.289519, Rot_R2: 0.794373, Trans_MSE: 0.001753, Trans_RMSE: 0.041871, Trans_MAE: 0.027789, Trans_R2: 0.978691
A->B:: Stage: train, Epoch: 30, Loss: 0.020142, Feature_alignment_loss: 0.002861, Cycle_consistency_loss: 0.003176, Scale_consensus_loss: 0.000000, Rot_MSE: 20.287727, Rot_RMSE: 4.504190, Rot_MAE: 2.701549, Rot_R2: 0.879994, Trans_MSE: 0.001462, Trans_RMSE: 0.038233, Trans_MAE: 0.025298, Trans_R2: 0.982390
A->B:: Stage: test, Epoch: 30, Loss: 0.037956, Feature_alignment_loss: 0.002734, Cycle_consistency_loss: 0.002205, Scale_consensus_loss: 0.000000, Rot_MSE: 30.981306, Rot_RMSE: 5.566085, Rot_MAE: 3.019931, Rot_R2: 0.815582, Trans_MSE: 0.001459, Trans_RMSE: 0.038197, Trans_MAE: 0.025204, Trans_R2: 0.982289
A->B:: Stage: best_test, Epoch: 30, Loss: 0.037956, Feature_alignment_loss: 0.002734, Cycle_consistency_loss: 0.002205, Scale_consensus_loss: 0.000000, Rot_MSE: 30.981306, Rot_RMSE: 5.566085, Rot_MAE: 3.019931, Rot_R2: 0.815582, Trans_MSE: 0.001459, Trans_RMSE: 0.038197, Trans_MAE: 0.025204, Trans_R2: 0.982289
A->B:: Stage: train, Epoch: 31, Loss: 0.019295, Feature_alignment_loss: 0.002813, Cycle_consistency_loss: 0.003112, Scale_consensus_loss: 0.000000, Rot_MSE: 18.555485, Rot_RMSE: 4.307608, Rot_MAE: 2.584682, Rot_R2: 0.890302, Trans_MSE: 0.001392, Trans_RMSE: 0.037305, Trans_MAE: 0.024686, Trans_R2: 0.983238
A->B:: Stage: test, Epoch: 31, Loss: 0.038748, Feature_alignment_loss: 0.002824, Cycle_consistency_loss: 0.002243, Scale_consensus_loss: 0.000000, Rot_MSE: 31.797871, Rot_RMSE: 5.638960, Rot_MAE: 3.061452, Rot_R2: 0.810758, Trans_MSE: 0.001380, Trans_RMSE: 0.037153, Trans_MAE: 0.024655, Trans_R2: 0.983229
A->B:: Stage: best_test, Epoch: 30, Loss: 0.037956, Feature_alignment_loss: 0.002734, Cycle_consistency_loss: 0.002205, Scale_consensus_loss: 0.000000, Rot_MSE: 30.981306, Rot_RMSE: 5.566085, Rot_MAE: 3.019931, Rot_R2: 0.815582, Trans_MSE: 0.001459, Trans_RMSE: 0.038197, Trans_MAE: 0.025204, Trans_R2: 0.982289
A->B:: Stage: train, Epoch: 32, Loss: 0.018993, Feature_alignment_loss: 0.002794, Cycle_consistency_loss: 0.003041, Scale_consensus_loss: 0.000000, Rot_MSE: 17.767298, Rot_RMSE: 4.215127, Rot_MAE: 2.576230, Rot_R2: 0.894967, Trans_MSE: 0.001400, Trans_RMSE: 0.037413, Trans_MAE: 0.024870, Trans_R2: 0.983142
A->B:: Stage: test, Epoch: 32, Loss: 0.038926, Feature_alignment_loss: 0.002700, Cycle_consistency_loss: 0.002175, Scale_consensus_loss: 0.000000, Rot_MSE: 31.786037, Rot_RMSE: 5.637911, Rot_MAE: 3.004672, Rot_R2: 0.810832, Trans_MSE: 0.001585, Trans_RMSE: 0.039813, Trans_MAE: 0.026374, Trans_R2: 0.980748
A->B:: Stage: best_test, Epoch: 30, Loss: 0.037956, Feature_alignment_loss: 0.002734, Cycle_consistency_loss: 0.002205, Scale_consensus_loss: 0.000000, Rot_MSE: 30.981306, Rot_RMSE: 5.566085, Rot_MAE: 3.019931, Rot_R2: 0.815582, Trans_MSE: 0.001459, Trans_RMSE: 0.038197, Trans_MAE: 0.025204, Trans_R2: 0.982289
A->B:: Stage: train, Epoch: 33, Loss: 0.019231, Feature_alignment_loss: 0.002790, Cycle_consistency_loss: 0.003064, Scale_consensus_loss: 0.000000, Rot_MSE: 19.373535, Rot_RMSE: 4.401538, Rot_MAE: 2.603633, Rot_R2: 0.885453, Trans_MSE: 0.001369, Trans_RMSE: 0.036995, Trans_MAE: 0.024583, Trans_R2: 0.983516
A->B:: Stage: test, Epoch: 33, Loss: 0.038055, Feature_alignment_loss: 0.002723, Cycle_consistency_loss: 0.002220, Scale_consensus_loss: 0.000000, Rot_MSE: 32.326534, Rot_RMSE: 5.685643, Rot_MAE: 3.032421, Rot_R2: 0.807623, Trans_MSE: 0.001479, Trans_RMSE: 0.038463, Trans_MAE: 0.025857, Trans_R2: 0.982032
A->B:: Stage: best_test, Epoch: 30, Loss: 0.037956, Feature_alignment_loss: 0.002734, Cycle_consistency_loss: 0.002205, Scale_consensus_loss: 0.000000, Rot_MSE: 30.981306, Rot_RMSE: 5.566085, Rot_MAE: 3.019931, Rot_R2: 0.815582, Trans_MSE: 0.001459, Trans_RMSE: 0.038197, Trans_MAE: 0.025204, Trans_R2: 0.982289
A->B:: Stage: train, Epoch: 34, Loss: 0.019372, Feature_alignment_loss: 0.002796, Cycle_consistency_loss: 0.003027, Scale_consensus_loss: 0.000000, Rot_MSE: 19.666075, Rot_RMSE: 4.434645, Rot_MAE: 2.627086, Rot_R2: 0.883719, Trans_MSE: 0.001359, Trans_RMSE: 0.036869, Trans_MAE: 0.024404, Trans_R2: 0.983627
A->B:: Stage: test, Epoch: 34, Loss: 0.037508, Feature_alignment_loss: 0.002671, Cycle_consistency_loss: 0.002197, Scale_consensus_loss: 0.000000, Rot_MSE: 30.782272, Rot_RMSE: 5.548177, Rot_MAE: 2.992996, Rot_R2: 0.816824, Trans_MSE: 0.001474, Trans_RMSE: 0.038392, Trans_MAE: 0.025606, Trans_R2: 0.982094
A->B:: Stage: best_test, Epoch: 34, Loss: 0.037508, Feature_alignment_loss: 0.002671, Cycle_consistency_loss: 0.002197, Scale_consensus_loss: 0.000000, Rot_MSE: 30.782272, Rot_RMSE: 5.548177, Rot_MAE: 2.992996, Rot_R2: 0.816824, Trans_MSE: 0.001474, Trans_RMSE: 0.038392, Trans_MAE: 0.025606, Trans_R2: 0.982094
A->B:: Stage: train, Epoch: 35, Loss: 0.019020, Feature_alignment_loss: 0.002748, Cycle_consistency_loss: 0.003012, Scale_consensus_loss: 0.000000, Rot_MSE: 18.900715, Rot_RMSE: 4.347495, Rot_MAE: 2.585946, Rot_R2: 0.888344, Trans_MSE: 0.001314, Trans_RMSE: 0.036248, Trans_MAE: 0.024115, Trans_R2: 0.984172
A->B:: Stage: test, Epoch: 35, Loss: 0.036623, Feature_alignment_loss: 0.002634, Cycle_consistency_loss: 0.002194, Scale_consensus_loss: 0.000000, Rot_MSE: 30.459099, Rot_RMSE: 5.518976, Rot_MAE: 2.946124, Rot_R2: 0.818706, Trans_MSE: 0.001411, Trans_RMSE: 0.037566, Trans_MAE: 0.025030, Trans_R2: 0.982871
A->B:: Stage: best_test, Epoch: 35, Loss: 0.036623, Feature_alignment_loss: 0.002634, Cycle_consistency_loss: 0.002194, Scale_consensus_loss: 0.000000, Rot_MSE: 30.459099, Rot_RMSE: 5.518976, Rot_MAE: 2.946124, Rot_R2: 0.818706, Trans_MSE: 0.001411, Trans_RMSE: 0.037566, Trans_MAE: 0.025030, Trans_R2: 0.982871
A->B:: Stage: train, Epoch: 36, Loss: 0.018533, Feature_alignment_loss: 0.002738, Cycle_consistency_loss: 0.002992, Scale_consensus_loss: 0.000000, Rot_MSE: 17.782309, Rot_RMSE: 4.216908, Rot_MAE: 2.551381, Rot_R2: 0.894947, Trans_MSE: 0.001327, Trans_RMSE: 0.036425, Trans_MAE: 0.024304, Trans_R2: 0.984017
A->B:: Stage: test, Epoch: 36, Loss: 0.036696, Feature_alignment_loss: 0.002764, Cycle_consistency_loss: 0.002182, Scale_consensus_loss: 0.000000, Rot_MSE: 30.672606, Rot_RMSE: 5.538285, Rot_MAE: 2.931363, Rot_R2: 0.817483, Trans_MSE: 0.001340, Trans_RMSE: 0.036610, Trans_MAE: 0.024157, Trans_R2: 0.983715
A->B:: Stage: best_test, Epoch: 35, Loss: 0.036623, Feature_alignment_loss: 0.002634, Cycle_consistency_loss: 0.002194, Scale_consensus_loss: 0.000000, Rot_MSE: 30.459099, Rot_RMSE: 5.518976, Rot_MAE: 2.946124, Rot_R2: 0.818706, Trans_MSE: 0.001411, Trans_RMSE: 0.037566, Trans_MAE: 0.025030, Trans_R2: 0.982871
A->B:: Stage: train, Epoch: 37, Loss: 0.018234, Feature_alignment_loss: 0.002724, Cycle_consistency_loss: 0.002963, Scale_consensus_loss: 0.000000, Rot_MSE: 17.001221, Rot_RMSE: 4.123254, Rot_MAE: 2.507087, Rot_R2: 0.899459, Trans_MSE: 0.001350, Trans_RMSE: 0.036741, Trans_MAE: 0.024064, Trans_R2: 0.983738
A->B:: Stage: test, Epoch: 37, Loss: 0.037324, Feature_alignment_loss: 0.002564, Cycle_consistency_loss: 0.002108, Scale_consensus_loss: 0.000000, Rot_MSE: 30.486889, Rot_RMSE: 5.521493, Rot_MAE: 2.980582, Rot_R2: 0.818592, Trans_MSE: 0.001440, Trans_RMSE: 0.037952, Trans_MAE: 0.025541, Trans_R2: 0.982501
A->B:: Stage: best_test, Epoch: 35, Loss: 0.036623, Feature_alignment_loss: 0.002634, Cycle_consistency_loss: 0.002194, Scale_consensus_loss: 0.000000, Rot_MSE: 30.459099, Rot_RMSE: 5.518976, Rot_MAE: 2.946124, Rot_R2: 0.818706, Trans_MSE: 0.001411, Trans_RMSE: 0.037566, Trans_MAE: 0.025030, Trans_R2: 0.982871
A->B:: Stage: train, Epoch: 38, Loss: 0.018609, Feature_alignment_loss: 0.002751, Cycle_consistency_loss: 0.002981, Scale_consensus_loss: 0.000000, Rot_MSE: 17.892448, Rot_RMSE: 4.229947, Rot_MAE: 2.549684, Rot_R2: 0.894280, Trans_MSE: 0.001302, Trans_RMSE: 0.036086, Trans_MAE: 0.023809, Trans_R2: 0.984313
A->B:: Stage: test, Epoch: 38, Loss: 0.036186, Feature_alignment_loss: 0.002648, Cycle_consistency_loss: 0.002137, Scale_consensus_loss: 0.000000, Rot_MSE: 29.812449, Rot_RMSE: 5.460078, Rot_MAE: 2.936675, Rot_R2: 0.822578, Trans_MSE: 0.001279, Trans_RMSE: 0.035757, Trans_MAE: 0.023811, Trans_R2: 0.984467
A->B:: Stage: best_test, Epoch: 38, Loss: 0.036186, Feature_alignment_loss: 0.002648, Cycle_consistency_loss: 0.002137, Scale_consensus_loss: 0.000000, Rot_MSE: 29.812449, Rot_RMSE: 5.460078, Rot_MAE: 2.936675, Rot_R2: 0.822578, Trans_MSE: 0.001279, Trans_RMSE: 0.035757, Trans_MAE: 0.023811, Trans_R2: 0.984467
A->B:: Stage: train, Epoch: 39, Loss: 0.018696, Feature_alignment_loss: 0.002773, Cycle_consistency_loss: 0.002948, Scale_consensus_loss: 0.000000, Rot_MSE: 18.515181, Rot_RMSE: 4.302927, Rot_MAE: 2.554115, Rot_R2: 0.890538, Trans_MSE: 0.001287, Trans_RMSE: 0.035872, Trans_MAE: 0.023868, Trans_R2: 0.984501
A->B:: Stage: test, Epoch: 39, Loss: 0.037156, Feature_alignment_loss: 0.002638, Cycle_consistency_loss: 0.002148, Scale_consensus_loss: 0.000000, Rot_MSE: 29.416401, Rot_RMSE: 5.423689, Rot_MAE: 2.915384, Rot_R2: 0.824946, Trans_MSE: 0.001402, Trans_RMSE: 0.037440, Trans_MAE: 0.024990, Trans_R2: 0.982983
A->B:: Stage: best_test, Epoch: 38, Loss: 0.036186, Feature_alignment_loss: 0.002648, Cycle_consistency_loss: 0.002137, Scale_consensus_loss: 0.000000, Rot_MSE: 29.812449, Rot_RMSE: 5.460078, Rot_MAE: 2.936675, Rot_R2: 0.822578, Trans_MSE: 0.001279, Trans_RMSE: 0.035757, Trans_MAE: 0.023811, Trans_R2: 0.984467
A->B:: Stage: train, Epoch: 40, Loss: 0.018569, Feature_alignment_loss: 0.002730, Cycle_consistency_loss: 0.002954, Scale_consensus_loss: 0.000000, Rot_MSE: 18.640421, Rot_RMSE: 4.317455, Rot_MAE: 2.534739, Rot_R2: 0.889758, Trans_MSE: 0.001260, Trans_RMSE: 0.035494, Trans_MAE: 0.023626, Trans_R2: 0.984824
A->B:: Stage: test, Epoch: 40, Loss: 0.036961, Feature_alignment_loss: 0.002625, Cycle_consistency_loss: 0.002179, Scale_consensus_loss: 0.000000, Rot_MSE: 30.658789, Rot_RMSE: 5.537038, Rot_MAE: 2.961619, Rot_R2: 0.817581, Trans_MSE: 0.001440, Trans_RMSE: 0.037948, Trans_MAE: 0.025021, Trans_R2: 0.982509
A->B:: Stage: best_test, Epoch: 38, Loss: 0.036186, Feature_alignment_loss: 0.002648, Cycle_consistency_loss: 0.002137, Scale_consensus_loss: 0.000000, Rot_MSE: 29.812449, Rot_RMSE: 5.460078, Rot_MAE: 2.936675, Rot_R2: 0.822578, Trans_MSE: 0.001279, Trans_RMSE: 0.035757, Trans_MAE: 0.023811, Trans_R2: 0.984467
A->B:: Stage: train, Epoch: 41, Loss: 0.018403, Feature_alignment_loss: 0.002704, Cycle_consistency_loss: 0.002907, Scale_consensus_loss: 0.000000, Rot_MSE: 18.076120, Rot_RMSE: 4.251602, Rot_MAE: 2.534887, Rot_R2: 0.893164, Trans_MSE: 0.001267, Trans_RMSE: 0.035597, Trans_MAE: 0.023580, Trans_R2: 0.984737
A->B:: Stage: test, Epoch: 41, Loss: 0.037019, Feature_alignment_loss: 0.002704, Cycle_consistency_loss: 0.002167, Scale_consensus_loss: 0.000000, Rot_MSE: 30.229744, Rot_RMSE: 5.498158, Rot_MAE: 2.928113, Rot_R2: 0.820158, Trans_MSE: 0.001421, Trans_RMSE: 0.037701, Trans_MAE: 0.024949, Trans_R2: 0.982752
A->B:: Stage: best_test, Epoch: 38, Loss: 0.036186, Feature_alignment_loss: 0.002648, Cycle_consistency_loss: 0.002137, Scale_consensus_loss: 0.000000, Rot_MSE: 29.812449, Rot_RMSE: 5.460078, Rot_MAE: 2.936675, Rot_R2: 0.822578, Trans_MSE: 0.001279, Trans_RMSE: 0.035757, Trans_MAE: 0.023811, Trans_R2: 0.984467
A->B:: Stage: train, Epoch: 42, Loss: 0.017950, Feature_alignment_loss: 0.002721, Cycle_consistency_loss: 0.002903, Scale_consensus_loss: 0.000000, Rot_MSE: 17.023247, Rot_RMSE: 4.125924, Rot_MAE: 2.492204, Rot_R2: 0.899377, Trans_MSE: 0.001250, Trans_RMSE: 0.035356, Trans_MAE: 0.023468, Trans_R2: 0.984942
A->B:: Stage: test, Epoch: 42, Loss: 0.036309, Feature_alignment_loss: 0.002655, Cycle_consistency_loss: 0.002189, Scale_consensus_loss: 0.000000, Rot_MSE: 30.987963, Rot_RMSE: 5.566683, Rot_MAE: 2.961171, Rot_R2: 0.815656, Trans_MSE: 0.001435, Trans_RMSE: 0.037880, Trans_MAE: 0.025358, Trans_R2: 0.982561
A->B:: Stage: best_test, Epoch: 38, Loss: 0.036186, Feature_alignment_loss: 0.002648, Cycle_consistency_loss: 0.002137, Scale_consensus_loss: 0.000000, Rot_MSE: 29.812449, Rot_RMSE: 5.460078, Rot_MAE: 2.936675, Rot_R2: 0.822578, Trans_MSE: 0.001279, Trans_RMSE: 0.035757, Trans_MAE: 0.023811, Trans_R2: 0.984467
A->B:: Stage: train, Epoch: 43, Loss: 0.017829, Feature_alignment_loss: 0.002673, Cycle_consistency_loss: 0.002887, Scale_consensus_loss: 0.000000, Rot_MSE: 17.275143, Rot_RMSE: 4.156338, Rot_MAE: 2.499819, Rot_R2: 0.897909, Trans_MSE: 0.001213, Trans_RMSE: 0.034828, Trans_MAE: 0.023150, Trans_R2: 0.985390
A->B:: Stage: test, Epoch: 43, Loss: 0.037159, Feature_alignment_loss: 0.002625, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 31.488453, Rot_RMSE: 5.611457, Rot_MAE: 2.933385, Rot_R2: 0.812636, Trans_MSE: 0.001441, Trans_RMSE: 0.037959, Trans_MAE: 0.025329, Trans_R2: 0.982496
A->B:: Stage: best_test, Epoch: 38, Loss: 0.036186, Feature_alignment_loss: 0.002648, Cycle_consistency_loss: 0.002137, Scale_consensus_loss: 0.000000, Rot_MSE: 29.812449, Rot_RMSE: 5.460078, Rot_MAE: 2.936675, Rot_R2: 0.822578, Trans_MSE: 0.001279, Trans_RMSE: 0.035757, Trans_MAE: 0.023811, Trans_R2: 0.984467
A->B:: Stage: train, Epoch: 44, Loss: 0.017761, Feature_alignment_loss: 0.002674, Cycle_consistency_loss: 0.002860, Scale_consensus_loss: 0.000000, Rot_MSE: 16.977325, Rot_RMSE: 4.120355, Rot_MAE: 2.489066, Rot_R2: 0.899670, Trans_MSE: 0.001230, Trans_RMSE: 0.035070, Trans_MAE: 0.023218, Trans_R2: 0.985186
A->B:: Stage: test, Epoch: 44, Loss: 0.037020, Feature_alignment_loss: 0.002693, Cycle_consistency_loss: 0.002237, Scale_consensus_loss: 0.000000, Rot_MSE: 31.200014, Rot_RMSE: 5.585697, Rot_MAE: 2.963537, Rot_R2: 0.814358, Trans_MSE: 0.001198, Trans_RMSE: 0.034607, Trans_MAE: 0.023010, Trans_R2: 0.985448
A->B:: Stage: best_test, Epoch: 38, Loss: 0.036186, Feature_alignment_loss: 0.002648, Cycle_consistency_loss: 0.002137, Scale_consensus_loss: 0.000000, Rot_MSE: 29.812449, Rot_RMSE: 5.460078, Rot_MAE: 2.936675, Rot_R2: 0.822578, Trans_MSE: 0.001279, Trans_RMSE: 0.035757, Trans_MAE: 0.023811, Trans_R2: 0.984467
A->B:: Stage: train, Epoch: 45, Loss: 0.018052, Feature_alignment_loss: 0.002661, Cycle_consistency_loss: 0.002856, Scale_consensus_loss: 0.000000, Rot_MSE: 17.850018, Rot_RMSE: 4.224928, Rot_MAE: 2.503786, Rot_R2: 0.894501, Trans_MSE: 0.001244, Trans_RMSE: 0.035276, Trans_MAE: 0.023425, Trans_R2: 0.985008
A->B:: Stage: test, Epoch: 45, Loss: 0.037492, Feature_alignment_loss: 0.002705, Cycle_consistency_loss: 0.002175, Scale_consensus_loss: 0.000000, Rot_MSE: 31.824512, Rot_RMSE: 5.641322, Rot_MAE: 2.979589, Rot_R2: 0.810654, Trans_MSE: 0.001267, Trans_RMSE: 0.035596, Trans_MAE: 0.023803, Trans_R2: 0.984592
A->B:: Stage: best_test, Epoch: 38, Loss: 0.036186, Feature_alignment_loss: 0.002648, Cycle_consistency_loss: 0.002137, Scale_consensus_loss: 0.000000, Rot_MSE: 29.812449, Rot_RMSE: 5.460078, Rot_MAE: 2.936675, Rot_R2: 0.822578, Trans_MSE: 0.001279, Trans_RMSE: 0.035757, Trans_MAE: 0.023811, Trans_R2: 0.984467
A->B:: Stage: train, Epoch: 46, Loss: 0.017706, Feature_alignment_loss: 0.002665, Cycle_consistency_loss: 0.002855, Scale_consensus_loss: 0.000000, Rot_MSE: 17.162298, Rot_RMSE: 4.142740, Rot_MAE: 2.472600, Rot_R2: 0.898541, Trans_MSE: 0.001187, Trans_RMSE: 0.034448, Trans_MAE: 0.022673, Trans_R2: 0.985706
A->B:: Stage: test, Epoch: 46, Loss: 0.037864, Feature_alignment_loss: 0.002605, Cycle_consistency_loss: 0.002165, Scale_consensus_loss: 0.000000, Rot_MSE: 31.107046, Rot_RMSE: 5.577369, Rot_MAE: 2.921027, Rot_R2: 0.814900, Trans_MSE: 0.001457, Trans_RMSE: 0.038172, Trans_MAE: 0.025697, Trans_R2: 0.982304
A->B:: Stage: best_test, Epoch: 38, Loss: 0.036186, Feature_alignment_loss: 0.002648, Cycle_consistency_loss: 0.002137, Scale_consensus_loss: 0.000000, Rot_MSE: 29.812449, Rot_RMSE: 5.460078, Rot_MAE: 2.936675, Rot_R2: 0.822578, Trans_MSE: 0.001279, Trans_RMSE: 0.035757, Trans_MAE: 0.023811, Trans_R2: 0.984467
A->B:: Stage: train, Epoch: 47, Loss: 0.017642, Feature_alignment_loss: 0.002675, Cycle_consistency_loss: 0.002839, Scale_consensus_loss: 0.000000, Rot_MSE: 17.111380, Rot_RMSE: 4.136590, Rot_MAE: 2.490956, Rot_R2: 0.898905, Trans_MSE: 0.001181, Trans_RMSE: 0.034364, Trans_MAE: 0.022980, Trans_R2: 0.985777
A->B:: Stage: test, Epoch: 47, Loss: 0.038214, Feature_alignment_loss: 0.002637, Cycle_consistency_loss: 0.002180, Scale_consensus_loss: 0.000000, Rot_MSE: 29.775101, Rot_RMSE: 5.456656, Rot_MAE: 2.904398, Rot_R2: 0.822850, Trans_MSE: 0.001333, Trans_RMSE: 0.036506, Trans_MAE: 0.024348, Trans_R2: 0.983824
A->B:: Stage: best_test, Epoch: 38, Loss: 0.036186, Feature_alignment_loss: 0.002648, Cycle_consistency_loss: 0.002137, Scale_consensus_loss: 0.000000, Rot_MSE: 29.812449, Rot_RMSE: 5.460078, Rot_MAE: 2.936675, Rot_R2: 0.822578, Trans_MSE: 0.001279, Trans_RMSE: 0.035757, Trans_MAE: 0.023811, Trans_R2: 0.984467
A->B:: Stage: train, Epoch: 48, Loss: 0.017635, Feature_alignment_loss: 0.002666, Cycle_consistency_loss: 0.002796, Scale_consensus_loss: 0.000000, Rot_MSE: 17.273729, Rot_RMSE: 4.156168, Rot_MAE: 2.485117, Rot_R2: 0.897852, Trans_MSE: 0.001201, Trans_RMSE: 0.034658, Trans_MAE: 0.022976, Trans_R2: 0.985532
A->B:: Stage: test, Epoch: 48, Loss: 0.039776, Feature_alignment_loss: 0.002583, Cycle_consistency_loss: 0.002120, Scale_consensus_loss: 0.000000, Rot_MSE: 30.732752, Rot_RMSE: 5.543713, Rot_MAE: 2.899945, Rot_R2: 0.817080, Trans_MSE: 0.001579, Trans_RMSE: 0.039737, Trans_MAE: 0.026904, Trans_R2: 0.980834
A->B:: Stage: best_test, Epoch: 38, Loss: 0.036186, Feature_alignment_loss: 0.002648, Cycle_consistency_loss: 0.002137, Scale_consensus_loss: 0.000000, Rot_MSE: 29.812449, Rot_RMSE: 5.460078, Rot_MAE: 2.936675, Rot_R2: 0.822578, Trans_MSE: 0.001279, Trans_RMSE: 0.035757, Trans_MAE: 0.023811, Trans_R2: 0.984467
A->B:: Stage: train, Epoch: 49, Loss: 0.017653, Feature_alignment_loss: 0.002679, Cycle_consistency_loss: 0.002819, Scale_consensus_loss: 0.000000, Rot_MSE: 17.389000, Rot_RMSE: 4.170012, Rot_MAE: 2.486597, Rot_R2: 0.897264, Trans_MSE: 0.001169, Trans_RMSE: 0.034188, Trans_MAE: 0.022650, Trans_R2: 0.985920
A->B:: Stage: test, Epoch: 49, Loss: 0.038529, Feature_alignment_loss: 0.002627, Cycle_consistency_loss: 0.002166, Scale_consensus_loss: 0.000000, Rot_MSE: 31.844206, Rot_RMSE: 5.643067, Rot_MAE: 2.956324, Rot_R2: 0.810548, Trans_MSE: 0.001219, Trans_RMSE: 0.034915, Trans_MAE: 0.023470, Trans_R2: 0.985184
A->B:: Stage: best_test, Epoch: 38, Loss: 0.036186, Feature_alignment_loss: 0.002648, Cycle_consistency_loss: 0.002137, Scale_consensus_loss: 0.000000, Rot_MSE: 29.812449, Rot_RMSE: 5.460078, Rot_MAE: 2.936675, Rot_R2: 0.822578, Trans_MSE: 0.001279, Trans_RMSE: 0.035757, Trans_MAE: 0.023811, Trans_R2: 0.984467
A->B:: Stage: train, Epoch: 50, Loss: 0.017221, Feature_alignment_loss: 0.002634, Cycle_consistency_loss: 0.002783, Scale_consensus_loss: 0.000000, Rot_MSE: 16.531504, Rot_RMSE: 4.065895, Rot_MAE: 2.451247, Rot_R2: 0.902309, Trans_MSE: 0.001146, Trans_RMSE: 0.033853, Trans_MAE: 0.022508, Trans_R2: 0.986195
A->B:: Stage: test, Epoch: 50, Loss: 0.037641, Feature_alignment_loss: 0.002625, Cycle_consistency_loss: 0.002139, Scale_consensus_loss: 0.000000, Rot_MSE: 29.589926, Rot_RMSE: 5.439662, Rot_MAE: 2.883605, Rot_R2: 0.823925, Trans_MSE: 0.001272, Trans_RMSE: 0.035663, Trans_MAE: 0.024109, Trans_R2: 0.984566
A->B:: Stage: best_test, Epoch: 38, Loss: 0.036186, Feature_alignment_loss: 0.002648, Cycle_consistency_loss: 0.002137, Scale_consensus_loss: 0.000000, Rot_MSE: 29.812449, Rot_RMSE: 5.460078, Rot_MAE: 2.936675, Rot_R2: 0.822578, Trans_MSE: 0.001279, Trans_RMSE: 0.035757, Trans_MAE: 0.023811, Trans_R2: 0.984467
A->B:: Stage: train, Epoch: 51, Loss: 0.017651, Feature_alignment_loss: 0.002634, Cycle_consistency_loss: 0.002810, Scale_consensus_loss: 0.000000, Rot_MSE: 17.718132, Rot_RMSE: 4.209291, Rot_MAE: 2.480686, Rot_R2: 0.895266, Trans_MSE: 0.001164, Trans_RMSE: 0.034112, Trans_MAE: 0.022610, Trans_R2: 0.985985
A->B:: Stage: test, Epoch: 51, Loss: 0.035683, Feature_alignment_loss: 0.002591, Cycle_consistency_loss: 0.002204, Scale_consensus_loss: 0.000000, Rot_MSE: 29.584118, Rot_RMSE: 5.439128, Rot_MAE: 2.855554, Rot_R2: 0.823903, Trans_MSE: 0.001184, Trans_RMSE: 0.034415, Trans_MAE: 0.023091, Trans_R2: 0.985623
A->B:: Stage: best_test, Epoch: 51, Loss: 0.035683, Feature_alignment_loss: 0.002591, Cycle_consistency_loss: 0.002204, Scale_consensus_loss: 0.000000, Rot_MSE: 29.584118, Rot_RMSE: 5.439128, Rot_MAE: 2.855554, Rot_R2: 0.823903, Trans_MSE: 0.001184, Trans_RMSE: 0.034415, Trans_MAE: 0.023091, Trans_R2: 0.985623
A->B:: Stage: train, Epoch: 52, Loss: 0.017586, Feature_alignment_loss: 0.002631, Cycle_consistency_loss: 0.002803, Scale_consensus_loss: 0.000000, Rot_MSE: 17.684288, Rot_RMSE: 4.205269, Rot_MAE: 2.487306, Rot_R2: 0.895448, Trans_MSE: 0.001124, Trans_RMSE: 0.033530, Trans_MAE: 0.022314, Trans_R2: 0.986457
A->B:: Stage: test, Epoch: 52, Loss: 0.037029, Feature_alignment_loss: 0.002611, Cycle_consistency_loss: 0.002165, Scale_consensus_loss: 0.000000, Rot_MSE: 30.672707, Rot_RMSE: 5.538295, Rot_MAE: 2.905256, Rot_R2: 0.817441, Trans_MSE: 0.001400, Trans_RMSE: 0.037421, Trans_MAE: 0.025069, Trans_R2: 0.982972
A->B:: Stage: best_test, Epoch: 51, Loss: 0.035683, Feature_alignment_loss: 0.002591, Cycle_consistency_loss: 0.002204, Scale_consensus_loss: 0.000000, Rot_MSE: 29.584118, Rot_RMSE: 5.439128, Rot_MAE: 2.855554, Rot_R2: 0.823903, Trans_MSE: 0.001184, Trans_RMSE: 0.034415, Trans_MAE: 0.023091, Trans_R2: 0.985623
A->B:: Stage: train, Epoch: 53, Loss: 0.017325, Feature_alignment_loss: 0.002588, Cycle_consistency_loss: 0.002772, Scale_consensus_loss: 0.000000, Rot_MSE: 16.811907, Rot_RMSE: 4.100233, Rot_MAE: 2.436039, Rot_R2: 0.900684, Trans_MSE: 0.001182, Trans_RMSE: 0.034377, Trans_MAE: 0.022720, Trans_R2: 0.985765
A->B:: Stage: test, Epoch: 53, Loss: 0.036299, Feature_alignment_loss: 0.002552, Cycle_consistency_loss: 0.002173, Scale_consensus_loss: 0.000000, Rot_MSE: 29.862202, Rot_RMSE: 5.464632, Rot_MAE: 2.850914, Rot_R2: 0.822272, Trans_MSE: 0.001345, Trans_RMSE: 0.036668, Trans_MAE: 0.024641, Trans_R2: 0.983662
A->B:: Stage: best_test, Epoch: 51, Loss: 0.035683, Feature_alignment_loss: 0.002591, Cycle_consistency_loss: 0.002204, Scale_consensus_loss: 0.000000, Rot_MSE: 29.584118, Rot_RMSE: 5.439128, Rot_MAE: 2.855554, Rot_R2: 0.823903, Trans_MSE: 0.001184, Trans_RMSE: 0.034415, Trans_MAE: 0.023091, Trans_R2: 0.985623
A->B:: Stage: train, Epoch: 54, Loss: 0.017212, Feature_alignment_loss: 0.002620, Cycle_consistency_loss: 0.002762, Scale_consensus_loss: 0.000000, Rot_MSE: 16.416563, Rot_RMSE: 4.051736, Rot_MAE: 2.421885, Rot_R2: 0.902969, Trans_MSE: 0.001156, Trans_RMSE: 0.033995, Trans_MAE: 0.022501, Trans_R2: 0.986081
A->B:: Stage: test, Epoch: 54, Loss: 0.037839, Feature_alignment_loss: 0.002592, Cycle_consistency_loss: 0.002131, Scale_consensus_loss: 0.000000, Rot_MSE: 30.304634, Rot_RMSE: 5.504964, Rot_MAE: 2.888907, Rot_R2: 0.819643, Trans_MSE: 0.001305, Trans_RMSE: 0.036131, Trans_MAE: 0.024096, Trans_R2: 0.984143
A->B:: Stage: best_test, Epoch: 51, Loss: 0.035683, Feature_alignment_loss: 0.002591, Cycle_consistency_loss: 0.002204, Scale_consensus_loss: 0.000000, Rot_MSE: 29.584118, Rot_RMSE: 5.439128, Rot_MAE: 2.855554, Rot_R2: 0.823903, Trans_MSE: 0.001184, Trans_RMSE: 0.034415, Trans_MAE: 0.023091, Trans_R2: 0.985623
A->B:: Stage: train, Epoch: 55, Loss: 0.017358, Feature_alignment_loss: 0.002620, Cycle_consistency_loss: 0.002740, Scale_consensus_loss: 0.000000, Rot_MSE: 16.812624, Rot_RMSE: 4.100320, Rot_MAE: 2.453818, Rot_R2: 0.900643, Trans_MSE: 0.001137, Trans_RMSE: 0.033713, Trans_MAE: 0.022130, Trans_R2: 0.986308
A->B:: Stage: test, Epoch: 55, Loss: 0.037609, Feature_alignment_loss: 0.002595, Cycle_consistency_loss: 0.002112, Scale_consensus_loss: 0.000000, Rot_MSE: 30.868826, Rot_RMSE: 5.555972, Rot_MAE: 2.906902, Rot_R2: 0.816333, Trans_MSE: 0.001248, Trans_RMSE: 0.035323, Trans_MAE: 0.023570, Trans_R2: 0.984867
A->B:: Stage: best_test, Epoch: 51, Loss: 0.035683, Feature_alignment_loss: 0.002591, Cycle_consistency_loss: 0.002204, Scale_consensus_loss: 0.000000, Rot_MSE: 29.584118, Rot_RMSE: 5.439128, Rot_MAE: 2.855554, Rot_R2: 0.823903, Trans_MSE: 0.001184, Trans_RMSE: 0.034415, Trans_MAE: 0.023091, Trans_R2: 0.985623
A->B:: Stage: train, Epoch: 56, Loss: 0.016869, Feature_alignment_loss: 0.002573, Cycle_consistency_loss: 0.002741, Scale_consensus_loss: 0.000000, Rot_MSE: 16.077639, Rot_RMSE: 4.009693, Rot_MAE: 2.413860, Rot_R2: 0.904947, Trans_MSE: 0.001106, Trans_RMSE: 0.033263, Trans_MAE: 0.022055, Trans_R2: 0.986672
A->B:: Stage: test, Epoch: 56, Loss: 0.036169, Feature_alignment_loss: 0.002450, Cycle_consistency_loss: 0.002134, Scale_consensus_loss: 0.000000, Rot_MSE: 28.829334, Rot_RMSE: 5.369296, Rot_MAE: 2.842875, Rot_R2: 0.828438, Trans_MSE: 0.001254, Trans_RMSE: 0.035418, Trans_MAE: 0.023613, Trans_R2: 0.984765
A->B:: Stage: best_test, Epoch: 51, Loss: 0.035683, Feature_alignment_loss: 0.002591, Cycle_consistency_loss: 0.002204, Scale_consensus_loss: 0.000000, Rot_MSE: 29.584118, Rot_RMSE: 5.439128, Rot_MAE: 2.855554, Rot_R2: 0.823903, Trans_MSE: 0.001184, Trans_RMSE: 0.034415, Trans_MAE: 0.023091, Trans_R2: 0.985623
A->B:: Stage: train, Epoch: 57, Loss: 0.017074, Feature_alignment_loss: 0.002571, Cycle_consistency_loss: 0.002741, Scale_consensus_loss: 0.000000, Rot_MSE: 16.358284, Rot_RMSE: 4.044538, Rot_MAE: 2.432117, Rot_R2: 0.903346, Trans_MSE: 0.001095, Trans_RMSE: 0.033084, Trans_MAE: 0.022013, Trans_R2: 0.986814
A->B:: Stage: test, Epoch: 57, Loss: 0.036816, Feature_alignment_loss: 0.002601, Cycle_consistency_loss: 0.002124, Scale_consensus_loss: 0.000000, Rot_MSE: 29.067886, Rot_RMSE: 5.391464, Rot_MAE: 2.838008, Rot_R2: 0.827031, Trans_MSE: 0.001223, Trans_RMSE: 0.034973, Trans_MAE: 0.023244, Trans_R2: 0.985163
A->B:: Stage: best_test, Epoch: 51, Loss: 0.035683, Feature_alignment_loss: 0.002591, Cycle_consistency_loss: 0.002204, Scale_consensus_loss: 0.000000, Rot_MSE: 29.584118, Rot_RMSE: 5.439128, Rot_MAE: 2.855554, Rot_R2: 0.823903, Trans_MSE: 0.001184, Trans_RMSE: 0.034415, Trans_MAE: 0.023091, Trans_R2: 0.985623
A->B:: Stage: train, Epoch: 58, Loss: 0.017009, Feature_alignment_loss: 0.002568, Cycle_consistency_loss: 0.002752, Scale_consensus_loss: 0.000000, Rot_MSE: 16.354559, Rot_RMSE: 4.044077, Rot_MAE: 2.420130, Rot_R2: 0.903371, Trans_MSE: 0.001098, Trans_RMSE: 0.033138, Trans_MAE: 0.021977, Trans_R2: 0.986773
A->B:: Stage: test, Epoch: 58, Loss: 0.036235, Feature_alignment_loss: 0.002548, Cycle_consistency_loss: 0.002140, Scale_consensus_loss: 0.000000, Rot_MSE: 28.315592, Rot_RMSE: 5.321239, Rot_MAE: 2.831649, Rot_R2: 0.831506, Trans_MSE: 0.001149, Trans_RMSE: 0.033893, Trans_MAE: 0.022325, Trans_R2: 0.986057
A->B:: Stage: best_test, Epoch: 51, Loss: 0.035683, Feature_alignment_loss: 0.002591, Cycle_consistency_loss: 0.002204, Scale_consensus_loss: 0.000000, Rot_MSE: 29.584118, Rot_RMSE: 5.439128, Rot_MAE: 2.855554, Rot_R2: 0.823903, Trans_MSE: 0.001184, Trans_RMSE: 0.034415, Trans_MAE: 0.023091, Trans_R2: 0.985623
A->B:: Stage: train, Epoch: 59, Loss: 0.016979, Feature_alignment_loss: 0.002593, Cycle_consistency_loss: 0.002750, Scale_consensus_loss: 0.000000, Rot_MSE: 16.476768, Rot_RMSE: 4.059159, Rot_MAE: 2.410615, Rot_R2: 0.902602, Trans_MSE: 0.001083, Trans_RMSE: 0.032911, Trans_MAE: 0.021880, Trans_R2: 0.986952
A->B:: Stage: test, Epoch: 59, Loss: 0.036959, Feature_alignment_loss: 0.002507, Cycle_consistency_loss: 0.002142, Scale_consensus_loss: 0.000000, Rot_MSE: 29.544245, Rot_RMSE: 5.435462, Rot_MAE: 2.835836, Rot_R2: 0.824182, Trans_MSE: 0.001233, Trans_RMSE: 0.035110, Trans_MAE: 0.023243, Trans_R2: 0.985038
A->B:: Stage: best_test, Epoch: 51, Loss: 0.035683, Feature_alignment_loss: 0.002591, Cycle_consistency_loss: 0.002204, Scale_consensus_loss: 0.000000, Rot_MSE: 29.584118, Rot_RMSE: 5.439128, Rot_MAE: 2.855554, Rot_R2: 0.823903, Trans_MSE: 0.001184, Trans_RMSE: 0.034415, Trans_MAE: 0.023091, Trans_R2: 0.985623
A->B:: Stage: train, Epoch: 60, Loss: 0.016591, Feature_alignment_loss: 0.002504, Cycle_consistency_loss: 0.002701, Scale_consensus_loss: 0.000000, Rot_MSE: 16.427208, Rot_RMSE: 4.053049, Rot_MAE: 2.410421, Rot_R2: 0.902953, Trans_MSE: 0.001055, Trans_RMSE: 0.032486, Trans_MAE: 0.021478, Trans_R2: 0.987288
A->B:: Stage: test, Epoch: 60, Loss: 0.035142, Feature_alignment_loss: 0.002513, Cycle_consistency_loss: 0.002158, Scale_consensus_loss: 0.000000, Rot_MSE: 28.943426, Rot_RMSE: 5.379910, Rot_MAE: 2.790904, Rot_R2: 0.827727, Trans_MSE: 0.001164, Trans_RMSE: 0.034122, Trans_MAE: 0.022320, Trans_R2: 0.985865
A->B:: Stage: best_test, Epoch: 60, Loss: 0.035142, Feature_alignment_loss: 0.002513, Cycle_consistency_loss: 0.002158, Scale_consensus_loss: 0.000000, Rot_MSE: 28.943426, Rot_RMSE: 5.379910, Rot_MAE: 2.790904, Rot_R2: 0.827727, Trans_MSE: 0.001164, Trans_RMSE: 0.034122, Trans_MAE: 0.022320, Trans_R2: 0.985865
A->B:: Stage: train, Epoch: 61, Loss: 0.016581, Feature_alignment_loss: 0.002499, Cycle_consistency_loss: 0.002707, Scale_consensus_loss: 0.000000, Rot_MSE: 15.846601, Rot_RMSE: 3.980779, Rot_MAE: 2.368487, Rot_R2: 0.906385, Trans_MSE: 0.001098, Trans_RMSE: 0.033137, Trans_MAE: 0.021698, Trans_R2: 0.986772
A->B:: Stage: test, Epoch: 61, Loss: 0.036158, Feature_alignment_loss: 0.002511, Cycle_consistency_loss: 0.002149, Scale_consensus_loss: 0.000000, Rot_MSE: 29.848438, Rot_RMSE: 5.463372, Rot_MAE: 2.814405, Rot_R2: 0.822344, Trans_MSE: 0.001189, Trans_RMSE: 0.034480, Trans_MAE: 0.022723, Trans_R2: 0.985565
A->B:: Stage: best_test, Epoch: 60, Loss: 0.035142, Feature_alignment_loss: 0.002513, Cycle_consistency_loss: 0.002158, Scale_consensus_loss: 0.000000, Rot_MSE: 28.943426, Rot_RMSE: 5.379910, Rot_MAE: 2.790904, Rot_R2: 0.827727, Trans_MSE: 0.001164, Trans_RMSE: 0.034122, Trans_MAE: 0.022320, Trans_R2: 0.985865
A->B:: Stage: train, Epoch: 62, Loss: 0.016536, Feature_alignment_loss: 0.002512, Cycle_consistency_loss: 0.002697, Scale_consensus_loss: 0.000000, Rot_MSE: 16.185633, Rot_RMSE: 4.023137, Rot_MAE: 2.399647, Rot_R2: 0.904334, Trans_MSE: 0.001070, Trans_RMSE: 0.032706, Trans_MAE: 0.021471, Trans_R2: 0.987116
A->B:: Stage: test, Epoch: 62, Loss: 0.034509, Feature_alignment_loss: 0.002482, Cycle_consistency_loss: 0.002146, Scale_consensus_loss: 0.000000, Rot_MSE: 28.292456, Rot_RMSE: 5.319065, Rot_MAE: 2.745904, Rot_R2: 0.831611, Trans_MSE: 0.001165, Trans_RMSE: 0.034132, Trans_MAE: 0.022579, Trans_R2: 0.985856
A->B:: Stage: best_test, Epoch: 62, Loss: 0.034509, Feature_alignment_loss: 0.002482, Cycle_consistency_loss: 0.002146, Scale_consensus_loss: 0.000000, Rot_MSE: 28.292456, Rot_RMSE: 5.319065, Rot_MAE: 2.745904, Rot_R2: 0.831611, Trans_MSE: 0.001165, Trans_RMSE: 0.034132, Trans_MAE: 0.022579, Trans_R2: 0.985856
A->B:: Stage: train, Epoch: 63, Loss: 0.016259, Feature_alignment_loss: 0.002493, Cycle_consistency_loss: 0.002697, Scale_consensus_loss: 0.000000, Rot_MSE: 15.612621, Rot_RMSE: 3.951281, Rot_MAE: 2.361468, Rot_R2: 0.907687, Trans_MSE: 0.001060, Trans_RMSE: 0.032553, Trans_MAE: 0.021512, Trans_R2: 0.987235
A->B:: Stage: test, Epoch: 63, Loss: 0.035974, Feature_alignment_loss: 0.002521, Cycle_consistency_loss: 0.002187, Scale_consensus_loss: 0.000000, Rot_MSE: 29.587410, Rot_RMSE: 5.439431, Rot_MAE: 2.813848, Rot_R2: 0.823914, Trans_MSE: 0.001271, Trans_RMSE: 0.035650, Trans_MAE: 0.023591, Trans_R2: 0.984566
A->B:: Stage: best_test, Epoch: 62, Loss: 0.034509, Feature_alignment_loss: 0.002482, Cycle_consistency_loss: 0.002146, Scale_consensus_loss: 0.000000, Rot_MSE: 28.292456, Rot_RMSE: 5.319065, Rot_MAE: 2.745904, Rot_R2: 0.831611, Trans_MSE: 0.001165, Trans_RMSE: 0.034132, Trans_MAE: 0.022579, Trans_R2: 0.985856
A->B:: Stage: train, Epoch: 64, Loss: 0.016224, Feature_alignment_loss: 0.002507, Cycle_consistency_loss: 0.002688, Scale_consensus_loss: 0.000000, Rot_MSE: 15.451701, Rot_RMSE: 3.930865, Rot_MAE: 2.348138, Rot_R2: 0.908681, Trans_MSE: 0.001055, Trans_RMSE: 0.032482, Trans_MAE: 0.021358, Trans_R2: 0.987290
A->B:: Stage: test, Epoch: 64, Loss: 0.036538, Feature_alignment_loss: 0.002505, Cycle_consistency_loss: 0.002136, Scale_consensus_loss: 0.000000, Rot_MSE: 29.650721, Rot_RMSE: 5.445248, Rot_MAE: 2.810968, Rot_R2: 0.823533, Trans_MSE: 0.001188, Trans_RMSE: 0.034472, Trans_MAE: 0.022774, Trans_R2: 0.985569
A->B:: Stage: best_test, Epoch: 62, Loss: 0.034509, Feature_alignment_loss: 0.002482, Cycle_consistency_loss: 0.002146, Scale_consensus_loss: 0.000000, Rot_MSE: 28.292456, Rot_RMSE: 5.319065, Rot_MAE: 2.745904, Rot_R2: 0.831611, Trans_MSE: 0.001165, Trans_RMSE: 0.034132, Trans_MAE: 0.022579, Trans_R2: 0.985856
A->B:: Stage: train, Epoch: 65, Loss: 0.016467, Feature_alignment_loss: 0.002510, Cycle_consistency_loss: 0.002691, Scale_consensus_loss: 0.000000, Rot_MSE: 15.815068, Rot_RMSE: 3.976816, Rot_MAE: 2.368981, Rot_R2: 0.906553, Trans_MSE: 0.001060, Trans_RMSE: 0.032555, Trans_MAE: 0.021559, Trans_R2: 0.987234
A->B:: Stage: test, Epoch: 65, Loss: 0.036958, Feature_alignment_loss: 0.002569, Cycle_consistency_loss: 0.002171, Scale_consensus_loss: 0.000000, Rot_MSE: 29.884571, Rot_RMSE: 5.466678, Rot_MAE: 2.816575, Rot_R2: 0.822184, Trans_MSE: 0.001331, Trans_RMSE: 0.036487, Trans_MAE: 0.024266, Trans_R2: 0.983832
A->B:: Stage: best_test, Epoch: 62, Loss: 0.034509, Feature_alignment_loss: 0.002482, Cycle_consistency_loss: 0.002146, Scale_consensus_loss: 0.000000, Rot_MSE: 28.292456, Rot_RMSE: 5.319065, Rot_MAE: 2.745904, Rot_R2: 0.831611, Trans_MSE: 0.001165, Trans_RMSE: 0.034132, Trans_MAE: 0.022579, Trans_R2: 0.985856
A->B:: Stage: train, Epoch: 66, Loss: 0.016043, Feature_alignment_loss: 0.002507, Cycle_consistency_loss: 0.002671, Scale_consensus_loss: 0.000000, Rot_MSE: 14.974280, Rot_RMSE: 3.869662, Rot_MAE: 2.325844, Rot_R2: 0.911506, Trans_MSE: 0.001059, Trans_RMSE: 0.032548, Trans_MAE: 0.021301, Trans_R2: 0.987240
A->B:: Stage: test, Epoch: 66, Loss: 0.034793, Feature_alignment_loss: 0.002503, Cycle_consistency_loss: 0.002144, Scale_consensus_loss: 0.000000, Rot_MSE: 28.232508, Rot_RMSE: 5.313427, Rot_MAE: 2.759583, Rot_R2: 0.831982, Trans_MSE: 0.001150, Trans_RMSE: 0.033906, Trans_MAE: 0.021999, Trans_R2: 0.986046
A->B:: Stage: best_test, Epoch: 62, Loss: 0.034509, Feature_alignment_loss: 0.002482, Cycle_consistency_loss: 0.002146, Scale_consensus_loss: 0.000000, Rot_MSE: 28.292456, Rot_RMSE: 5.319065, Rot_MAE: 2.745904, Rot_R2: 0.831611, Trans_MSE: 0.001165, Trans_RMSE: 0.034132, Trans_MAE: 0.022579, Trans_R2: 0.985856
A->B:: Stage: train, Epoch: 67, Loss: 0.016308, Feature_alignment_loss: 0.002507, Cycle_consistency_loss: 0.002686, Scale_consensus_loss: 0.000000, Rot_MSE: 15.481644, Rot_RMSE: 3.934672, Rot_MAE: 2.364791, Rot_R2: 0.908492, Trans_MSE: 0.001073, Trans_RMSE: 0.032756, Trans_MAE: 0.021325, Trans_R2: 0.987074
A->B:: Stage: test, Epoch: 67, Loss: 0.034860, Feature_alignment_loss: 0.002513, Cycle_consistency_loss: 0.002133, Scale_consensus_loss: 0.000000, Rot_MSE: 28.504349, Rot_RMSE: 5.338946, Rot_MAE: 2.775354, Rot_R2: 0.830358, Trans_MSE: 0.001150, Trans_RMSE: 0.033906, Trans_MAE: 0.022078, Trans_R2: 0.986041
A->B:: Stage: best_test, Epoch: 62, Loss: 0.034509, Feature_alignment_loss: 0.002482, Cycle_consistency_loss: 0.002146, Scale_consensus_loss: 0.000000, Rot_MSE: 28.292456, Rot_RMSE: 5.319065, Rot_MAE: 2.745904, Rot_R2: 0.831611, Trans_MSE: 0.001165, Trans_RMSE: 0.034132, Trans_MAE: 0.022579, Trans_R2: 0.985856
A->B:: Stage: train, Epoch: 68, Loss: 0.016179, Feature_alignment_loss: 0.002495, Cycle_consistency_loss: 0.002690, Scale_consensus_loss: 0.000000, Rot_MSE: 15.282664, Rot_RMSE: 3.909305, Rot_MAE: 2.336464, Rot_R2: 0.909696, Trans_MSE: 0.001066, Trans_RMSE: 0.032651, Trans_MAE: 0.021340, Trans_R2: 0.987158
A->B:: Stage: test, Epoch: 68, Loss: 0.034835, Feature_alignment_loss: 0.002474, Cycle_consistency_loss: 0.002140, Scale_consensus_loss: 0.000000, Rot_MSE: 28.850359, Rot_RMSE: 5.371253, Rot_MAE: 2.777618, Rot_R2: 0.828294, Trans_MSE: 0.001181, Trans_RMSE: 0.034367, Trans_MAE: 0.022476, Trans_R2: 0.985661
A->B:: Stage: best_test, Epoch: 62, Loss: 0.034509, Feature_alignment_loss: 0.002482, Cycle_consistency_loss: 0.002146, Scale_consensus_loss: 0.000000, Rot_MSE: 28.292456, Rot_RMSE: 5.319065, Rot_MAE: 2.745904, Rot_R2: 0.831611, Trans_MSE: 0.001165, Trans_RMSE: 0.034132, Trans_MAE: 0.022579, Trans_R2: 0.985856
A->B:: Stage: train, Epoch: 69, Loss: 0.016305, Feature_alignment_loss: 0.002484, Cycle_consistency_loss: 0.002683, Scale_consensus_loss: 0.000000, Rot_MSE: 15.588045, Rot_RMSE: 3.948170, Rot_MAE: 2.360842, Rot_R2: 0.907883, Trans_MSE: 0.001065, Trans_RMSE: 0.032629, Trans_MAE: 0.021519, Trans_R2: 0.987176
A->B:: Stage: test, Epoch: 69, Loss: 0.034415, Feature_alignment_loss: 0.002544, Cycle_consistency_loss: 0.002177, Scale_consensus_loss: 0.000000, Rot_MSE: 28.990061, Rot_RMSE: 5.384242, Rot_MAE: 2.779793, Rot_R2: 0.827505, Trans_MSE: 0.001127, Trans_RMSE: 0.033575, Trans_MAE: 0.022135, Trans_R2: 0.986308
A->B:: Stage: best_test, Epoch: 69, Loss: 0.034415, Feature_alignment_loss: 0.002544, Cycle_consistency_loss: 0.002177, Scale_consensus_loss: 0.000000, Rot_MSE: 28.990061, Rot_RMSE: 5.384242, Rot_MAE: 2.779793, Rot_R2: 0.827505, Trans_MSE: 0.001127, Trans_RMSE: 0.033575, Trans_MAE: 0.022135, Trans_R2: 0.986308
A->B:: Stage: train, Epoch: 70, Loss: 0.016437, Feature_alignment_loss: 0.002513, Cycle_consistency_loss: 0.002683, Scale_consensus_loss: 0.000000, Rot_MSE: 15.877062, Rot_RMSE: 3.984603, Rot_MAE: 2.373026, Rot_R2: 0.906186, Trans_MSE: 0.001067, Trans_RMSE: 0.032662, Trans_MAE: 0.021453, Trans_R2: 0.987151
A->B:: Stage: test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 71, Loss: 0.016222, Feature_alignment_loss: 0.002497, Cycle_consistency_loss: 0.002671, Scale_consensus_loss: 0.000000, Rot_MSE: 15.457500, Rot_RMSE: 3.931603, Rot_MAE: 2.355347, Rot_R2: 0.908663, Trans_MSE: 0.001057, Trans_RMSE: 0.032514, Trans_MAE: 0.021475, Trans_R2: 0.987265
A->B:: Stage: test, Epoch: 71, Loss: 0.034868, Feature_alignment_loss: 0.002494, Cycle_consistency_loss: 0.002146, Scale_consensus_loss: 0.000000, Rot_MSE: 28.805676, Rot_RMSE: 5.367092, Rot_MAE: 2.770252, Rot_R2: 0.828556, Trans_MSE: 0.001153, Trans_RMSE: 0.033949, Trans_MAE: 0.022355, Trans_R2: 0.986000
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 72, Loss: 0.016282, Feature_alignment_loss: 0.002495, Cycle_consistency_loss: 0.002673, Scale_consensus_loss: 0.000000, Rot_MSE: 15.471003, Rot_RMSE: 3.933320, Rot_MAE: 2.350660, Rot_R2: 0.908571, Trans_MSE: 0.001086, Trans_RMSE: 0.032954, Trans_MAE: 0.021533, Trans_R2: 0.986919
A->B:: Stage: test, Epoch: 72, Loss: 0.036009, Feature_alignment_loss: 0.002461, Cycle_consistency_loss: 0.002126, Scale_consensus_loss: 0.000000, Rot_MSE: 29.340725, Rot_RMSE: 5.416708, Rot_MAE: 2.776518, Rot_R2: 0.825381, Trans_MSE: 0.001109, Trans_RMSE: 0.033301, Trans_MAE: 0.022010, Trans_R2: 0.986524
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 73, Loss: 0.016236, Feature_alignment_loss: 0.002503, Cycle_consistency_loss: 0.002644, Scale_consensus_loss: 0.000000, Rot_MSE: 17.145651, Rot_RMSE: 4.140731, Rot_MAE: 2.338114, Rot_R2: 0.898551, Trans_MSE: 0.001030, Trans_RMSE: 0.032099, Trans_MAE: 0.021317, Trans_R2: 0.987588
A->B:: Stage: test, Epoch: 73, Loss: 0.034615, Feature_alignment_loss: 0.002478, Cycle_consistency_loss: 0.002143, Scale_consensus_loss: 0.000000, Rot_MSE: 28.557766, Rot_RMSE: 5.343946, Rot_MAE: 2.764806, Rot_R2: 0.830049, Trans_MSE: 0.001065, Trans_RMSE: 0.032632, Trans_MAE: 0.021308, Trans_R2: 0.987071
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 74, Loss: 0.016120, Feature_alignment_loss: 0.002501, Cycle_consistency_loss: 0.002642, Scale_consensus_loss: 0.000000, Rot_MSE: 15.447515, Rot_RMSE: 3.930333, Rot_MAE: 2.353501, Rot_R2: 0.908723, Trans_MSE: 0.001008, Trans_RMSE: 0.031745, Trans_MAE: 0.021003, Trans_R2: 0.987860
A->B:: Stage: test, Epoch: 74, Loss: 0.035087, Feature_alignment_loss: 0.002470, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.830299, Rot_RMSE: 5.369385, Rot_MAE: 2.789587, Rot_R2: 0.828443, Trans_MSE: 0.001157, Trans_RMSE: 0.034011, Trans_MAE: 0.022430, Trans_R2: 0.985955
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 75, Loss: 0.016337, Feature_alignment_loss: 0.002492, Cycle_consistency_loss: 0.002662, Scale_consensus_loss: 0.000000, Rot_MSE: 15.777841, Rot_RMSE: 3.972133, Rot_MAE: 2.358731, Rot_R2: 0.906794, Trans_MSE: 0.001074, Trans_RMSE: 0.032769, Trans_MAE: 0.021601, Trans_R2: 0.987065
A->B:: Stage: test, Epoch: 75, Loss: 0.035385, Feature_alignment_loss: 0.002497, Cycle_consistency_loss: 0.002130, Scale_consensus_loss: 0.000000, Rot_MSE: 28.229391, Rot_RMSE: 5.313134, Rot_MAE: 2.760086, Rot_R2: 0.832001, Trans_MSE: 0.001191, Trans_RMSE: 0.034518, Trans_MAE: 0.022838, Trans_R2: 0.985535
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 76, Loss: 0.016093, Feature_alignment_loss: 0.002494, Cycle_consistency_loss: 0.002651, Scale_consensus_loss: 0.000000, Rot_MSE: 15.348192, Rot_RMSE: 3.917677, Rot_MAE: 2.347826, Rot_R2: 0.909327, Trans_MSE: 0.001028, Trans_RMSE: 0.032067, Trans_MAE: 0.021170, Trans_R2: 0.987612
A->B:: Stage: test, Epoch: 76, Loss: 0.036105, Feature_alignment_loss: 0.002496, Cycle_consistency_loss: 0.002157, Scale_consensus_loss: 0.000000, Rot_MSE: 29.621889, Rot_RMSE: 5.442599, Rot_MAE: 2.786624, Rot_R2: 0.823732, Trans_MSE: 0.001180, Trans_RMSE: 0.034353, Trans_MAE: 0.022812, Trans_R2: 0.985664
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 77, Loss: 0.016223, Feature_alignment_loss: 0.002500, Cycle_consistency_loss: 0.002668, Scale_consensus_loss: 0.000000, Rot_MSE: 15.485258, Rot_RMSE: 3.935131, Rot_MAE: 2.356224, Rot_R2: 0.908520, Trans_MSE: 0.001044, Trans_RMSE: 0.032316, Trans_MAE: 0.021367, Trans_R2: 0.987420
A->B:: Stage: test, Epoch: 77, Loss: 0.034788, Feature_alignment_loss: 0.002502, Cycle_consistency_loss: 0.002150, Scale_consensus_loss: 0.000000, Rot_MSE: 28.192852, Rot_RMSE: 5.309694, Rot_MAE: 2.738127, Rot_R2: 0.832193, Trans_MSE: 0.001137, Trans_RMSE: 0.033727, Trans_MAE: 0.021955, Trans_R2: 0.986180
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 78, Loss: 0.015882, Feature_alignment_loss: 0.002497, Cycle_consistency_loss: 0.002645, Scale_consensus_loss: 0.000000, Rot_MSE: 14.996717, Rot_RMSE: 3.872560, Rot_MAE: 2.324248, Rot_R2: 0.911371, Trans_MSE: 0.000990, Trans_RMSE: 0.031460, Trans_MAE: 0.020794, Trans_R2: 0.988078
A->B:: Stage: test, Epoch: 78, Loss: 0.035539, Feature_alignment_loss: 0.002493, Cycle_consistency_loss: 0.002150, Scale_consensus_loss: 0.000000, Rot_MSE: 29.107563, Rot_RMSE: 5.395143, Rot_MAE: 2.788219, Rot_R2: 0.826762, Trans_MSE: 0.001168, Trans_RMSE: 0.034171, Trans_MAE: 0.022521, Trans_R2: 0.985814
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 79, Loss: 0.016228, Feature_alignment_loss: 0.002485, Cycle_consistency_loss: 0.002655, Scale_consensus_loss: 0.000000, Rot_MSE: 15.527644, Rot_RMSE: 3.940513, Rot_MAE: 2.362933, Rot_R2: 0.908253, Trans_MSE: 0.001049, Trans_RMSE: 0.032383, Trans_MAE: 0.021311, Trans_R2: 0.987366
A->B:: Stage: test, Epoch: 79, Loss: 0.034449, Feature_alignment_loss: 0.002509, Cycle_consistency_loss: 0.002177, Scale_consensus_loss: 0.000000, Rot_MSE: 28.449762, Rot_RMSE: 5.333832, Rot_MAE: 2.757737, Rot_R2: 0.830658, Trans_MSE: 0.001078, Trans_RMSE: 0.032839, Trans_MAE: 0.021561, Trans_R2: 0.986903
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 80, Loss: 0.015974, Feature_alignment_loss: 0.002493, Cycle_consistency_loss: 0.002676, Scale_consensus_loss: 0.000000, Rot_MSE: 15.135470, Rot_RMSE: 3.890433, Rot_MAE: 2.325179, Rot_R2: 0.910536, Trans_MSE: 0.001011, Trans_RMSE: 0.031799, Trans_MAE: 0.021028, Trans_R2: 0.987819
A->B:: Stage: test, Epoch: 80, Loss: 0.034236, Feature_alignment_loss: 0.002483, Cycle_consistency_loss: 0.002148, Scale_consensus_loss: 0.000000, Rot_MSE: 28.745407, Rot_RMSE: 5.361475, Rot_MAE: 2.767893, Rot_R2: 0.828924, Trans_MSE: 0.001066, Trans_RMSE: 0.032650, Trans_MAE: 0.021378, Trans_R2: 0.987053
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 81, Loss: 0.016167, Feature_alignment_loss: 0.002490, Cycle_consistency_loss: 0.002646, Scale_consensus_loss: 0.000000, Rot_MSE: 15.880528, Rot_RMSE: 3.985038, Rot_MAE: 2.355275, Rot_R2: 0.906139, Trans_MSE: 0.000997, Trans_RMSE: 0.031574, Trans_MAE: 0.020887, Trans_R2: 0.987991
A->B:: Stage: test, Epoch: 81, Loss: 0.034937, Feature_alignment_loss: 0.002498, Cycle_consistency_loss: 0.002160, Scale_consensus_loss: 0.000000, Rot_MSE: 28.633495, Rot_RMSE: 5.351027, Rot_MAE: 2.753421, Rot_R2: 0.829585, Trans_MSE: 0.001179, Trans_RMSE: 0.034341, Trans_MAE: 0.022628, Trans_R2: 0.985681
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 82, Loss: 0.016011, Feature_alignment_loss: 0.002485, Cycle_consistency_loss: 0.002666, Scale_consensus_loss: 0.000000, Rot_MSE: 15.485767, Rot_RMSE: 3.935196, Rot_MAE: 2.335853, Rot_R2: 0.908450, Trans_MSE: 0.001041, Trans_RMSE: 0.032266, Trans_MAE: 0.021186, Trans_R2: 0.987459
A->B:: Stage: test, Epoch: 82, Loss: 0.035609, Feature_alignment_loss: 0.002511, Cycle_consistency_loss: 0.002176, Scale_consensus_loss: 0.000000, Rot_MSE: 29.309591, Rot_RMSE: 5.413833, Rot_MAE: 2.775923, Rot_R2: 0.825568, Trans_MSE: 0.001139, Trans_RMSE: 0.033742, Trans_MAE: 0.022371, Trans_R2: 0.986175
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 83, Loss: 0.015994, Feature_alignment_loss: 0.002480, Cycle_consistency_loss: 0.002660, Scale_consensus_loss: 0.000000, Rot_MSE: 15.492264, Rot_RMSE: 3.936021, Rot_MAE: 2.339293, Rot_R2: 0.908394, Trans_MSE: 0.001042, Trans_RMSE: 0.032282, Trans_MAE: 0.021268, Trans_R2: 0.987446
A->B:: Stage: test, Epoch: 83, Loss: 0.035768, Feature_alignment_loss: 0.002477, Cycle_consistency_loss: 0.002165, Scale_consensus_loss: 0.000000, Rot_MSE: 29.715956, Rot_RMSE: 5.451234, Rot_MAE: 2.780609, Rot_R2: 0.823131, Trans_MSE: 0.001105, Trans_RMSE: 0.033242, Trans_MAE: 0.021943, Trans_R2: 0.986581
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 84, Loss: 0.016232, Feature_alignment_loss: 0.002494, Cycle_consistency_loss: 0.002658, Scale_consensus_loss: 0.000000, Rot_MSE: 15.689909, Rot_RMSE: 3.961049, Rot_MAE: 2.349464, Rot_R2: 0.907309, Trans_MSE: 0.001037, Trans_RMSE: 0.032201, Trans_MAE: 0.021274, Trans_R2: 0.987508
A->B:: Stage: test, Epoch: 84, Loss: 0.036460, Feature_alignment_loss: 0.002491, Cycle_consistency_loss: 0.002172, Scale_consensus_loss: 0.000000, Rot_MSE: 30.280115, Rot_RMSE: 5.502737, Rot_MAE: 2.806371, Rot_R2: 0.819778, Trans_MSE: 0.001111, Trans_RMSE: 0.033333, Trans_MAE: 0.022075, Trans_R2: 0.986508
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 85, Loss: 0.016095, Feature_alignment_loss: 0.002494, Cycle_consistency_loss: 0.002654, Scale_consensus_loss: 0.000000, Rot_MSE: 15.486405, Rot_RMSE: 3.935277, Rot_MAE: 2.352478, Rot_R2: 0.908512, Trans_MSE: 0.000987, Trans_RMSE: 0.031419, Trans_MAE: 0.020963, Trans_R2: 0.988109
A->B:: Stage: test, Epoch: 85, Loss: 0.035404, Feature_alignment_loss: 0.002494, Cycle_consistency_loss: 0.002149, Scale_consensus_loss: 0.000000, Rot_MSE: 29.241224, Rot_RMSE: 5.407516, Rot_MAE: 2.761086, Rot_R2: 0.825983, Trans_MSE: 0.001171, Trans_RMSE: 0.034215, Trans_MAE: 0.022627, Trans_R2: 0.985791
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 86, Loss: 0.015922, Feature_alignment_loss: 0.002492, Cycle_consistency_loss: 0.002660, Scale_consensus_loss: 0.000000, Rot_MSE: 14.898924, Rot_RMSE: 3.859912, Rot_MAE: 2.330456, Rot_R2: 0.911987, Trans_MSE: 0.001054, Trans_RMSE: 0.032463, Trans_MAE: 0.021269, Trans_R2: 0.987306
A->B:: Stage: test, Epoch: 86, Loss: 0.035199, Feature_alignment_loss: 0.002481, Cycle_consistency_loss: 0.002162, Scale_consensus_loss: 0.000000, Rot_MSE: 29.012167, Rot_RMSE: 5.386294, Rot_MAE: 2.761548, Rot_R2: 0.827317, Trans_MSE: 0.001170, Trans_RMSE: 0.034210, Trans_MAE: 0.022627, Trans_R2: 0.985791
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 87, Loss: 0.016000, Feature_alignment_loss: 0.002499, Cycle_consistency_loss: 0.002630, Scale_consensus_loss: 0.000000, Rot_MSE: 14.951271, Rot_RMSE: 3.866687, Rot_MAE: 2.322006, Rot_R2: 0.911658, Trans_MSE: 0.001031, Trans_RMSE: 0.032110, Trans_MAE: 0.021135, Trans_R2: 0.987580
A->B:: Stage: test, Epoch: 87, Loss: 0.035010, Feature_alignment_loss: 0.002453, Cycle_consistency_loss: 0.002145, Scale_consensus_loss: 0.000000, Rot_MSE: 29.381222, Rot_RMSE: 5.420445, Rot_MAE: 2.770063, Rot_R2: 0.825123, Trans_MSE: 0.001111, Trans_RMSE: 0.033330, Trans_MAE: 0.021871, Trans_R2: 0.986511
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 88, Loss: 0.016189, Feature_alignment_loss: 0.002488, Cycle_consistency_loss: 0.002650, Scale_consensus_loss: 0.000000, Rot_MSE: 15.887966, Rot_RMSE: 3.985971, Rot_MAE: 2.349849, Rot_R2: 0.906125, Trans_MSE: 0.001033, Trans_RMSE: 0.032139, Trans_MAE: 0.021128, Trans_R2: 0.987558
A->B:: Stage: test, Epoch: 88, Loss: 0.035987, Feature_alignment_loss: 0.002508, Cycle_consistency_loss: 0.002189, Scale_consensus_loss: 0.000000, Rot_MSE: 29.261810, Rot_RMSE: 5.409419, Rot_MAE: 2.784417, Rot_R2: 0.825837, Trans_MSE: 0.001181, Trans_RMSE: 0.034359, Trans_MAE: 0.022727, Trans_R2: 0.985664
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 89, Loss: 0.016310, Feature_alignment_loss: 0.002491, Cycle_consistency_loss: 0.002664, Scale_consensus_loss: 0.000000, Rot_MSE: 16.181925, Rot_RMSE: 4.022676, Rot_MAE: 2.342423, Rot_R2: 0.904433, Trans_MSE: 0.000997, Trans_RMSE: 0.031577, Trans_MAE: 0.020887, Trans_R2: 0.987988
A->B:: Stage: test, Epoch: 89, Loss: 0.035752, Feature_alignment_loss: 0.002502, Cycle_consistency_loss: 0.002154, Scale_consensus_loss: 0.000000, Rot_MSE: 28.900856, Rot_RMSE: 5.375952, Rot_MAE: 2.765131, Rot_R2: 0.828000, Trans_MSE: 0.001166, Trans_RMSE: 0.034147, Trans_MAE: 0.022672, Trans_R2: 0.985842
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 90, Loss: 0.016598, Feature_alignment_loss: 0.002481, Cycle_consistency_loss: 0.002657, Scale_consensus_loss: 0.000000, Rot_MSE: 18.900831, Rot_RMSE: 4.347508, Rot_MAE: 2.361913, Rot_R2: 0.888122, Trans_MSE: 0.001029, Trans_RMSE: 0.032079, Trans_MAE: 0.021128, Trans_R2: 0.987603
A->B:: Stage: test, Epoch: 90, Loss: 0.034780, Feature_alignment_loss: 0.002504, Cycle_consistency_loss: 0.002170, Scale_consensus_loss: 0.000000, Rot_MSE: 28.646423, Rot_RMSE: 5.352235, Rot_MAE: 2.757438, Rot_R2: 0.829520, Trans_MSE: 0.001156, Trans_RMSE: 0.034003, Trans_MAE: 0.022221, Trans_R2: 0.985961
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 91, Loss: 0.015833, Feature_alignment_loss: 0.002491, Cycle_consistency_loss: 0.002666, Scale_consensus_loss: 0.000000, Rot_MSE: 14.870306, Rot_RMSE: 3.856204, Rot_MAE: 2.319400, Rot_R2: 0.912116, Trans_MSE: 0.001038, Trans_RMSE: 0.032217, Trans_MAE: 0.021297, Trans_R2: 0.987495
A->B:: Stage: test, Epoch: 91, Loss: 0.035942, Feature_alignment_loss: 0.002511, Cycle_consistency_loss: 0.002194, Scale_consensus_loss: 0.000000, Rot_MSE: 29.382378, Rot_RMSE: 5.420551, Rot_MAE: 2.795511, Rot_R2: 0.825150, Trans_MSE: 0.001222, Trans_RMSE: 0.034954, Trans_MAE: 0.023184, Trans_R2: 0.985161
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 92, Loss: 0.016035, Feature_alignment_loss: 0.002489, Cycle_consistency_loss: 0.002673, Scale_consensus_loss: 0.000000, Rot_MSE: 14.978808, Rot_RMSE: 3.870247, Rot_MAE: 2.334298, Rot_R2: 0.911509, Trans_MSE: 0.001053, Trans_RMSE: 0.032450, Trans_MAE: 0.021378, Trans_R2: 0.987317
A->B:: Stage: test, Epoch: 92, Loss: 0.034898, Feature_alignment_loss: 0.002490, Cycle_consistency_loss: 0.002180, Scale_consensus_loss: 0.000000, Rot_MSE: 28.991119, Rot_RMSE: 5.384340, Rot_MAE: 2.771603, Rot_R2: 0.827476, Trans_MSE: 0.001147, Trans_RMSE: 0.033865, Trans_MAE: 0.022305, Trans_R2: 0.986073
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 93, Loss: 0.016143, Feature_alignment_loss: 0.002492, Cycle_consistency_loss: 0.002653, Scale_consensus_loss: 0.000000, Rot_MSE: 15.485974, Rot_RMSE: 3.935222, Rot_MAE: 2.334501, Rot_R2: 0.908479, Trans_MSE: 0.001055, Trans_RMSE: 0.032475, Trans_MAE: 0.021191, Trans_R2: 0.987295
A->B:: Stage: test, Epoch: 93, Loss: 0.034664, Feature_alignment_loss: 0.002487, Cycle_consistency_loss: 0.002152, Scale_consensus_loss: 0.000000, Rot_MSE: 28.698643, Rot_RMSE: 5.357111, Rot_MAE: 2.746253, Rot_R2: 0.829182, Trans_MSE: 0.001125, Trans_RMSE: 0.033547, Trans_MAE: 0.021961, Trans_R2: 0.986336
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 94, Loss: 0.016398, Feature_alignment_loss: 0.002488, Cycle_consistency_loss: 0.002654, Scale_consensus_loss: 0.000000, Rot_MSE: 16.243856, Rot_RMSE: 4.030367, Rot_MAE: 2.369636, Rot_R2: 0.904033, Trans_MSE: 0.001030, Trans_RMSE: 0.032098, Trans_MAE: 0.021291, Trans_R2: 0.987589
A->B:: Stage: test, Epoch: 94, Loss: 0.035401, Feature_alignment_loss: 0.002494, Cycle_consistency_loss: 0.002180, Scale_consensus_loss: 0.000000, Rot_MSE: 29.117235, Rot_RMSE: 5.396039, Rot_MAE: 2.769846, Rot_R2: 0.826742, Trans_MSE: 0.001170, Trans_RMSE: 0.034209, Trans_MAE: 0.022688, Trans_R2: 0.985792
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 95, Loss: 0.015953, Feature_alignment_loss: 0.002489, Cycle_consistency_loss: 0.002668, Scale_consensus_loss: 0.000000, Rot_MSE: 15.543718, Rot_RMSE: 3.942552, Rot_MAE: 2.351323, Rot_R2: 0.908106, Trans_MSE: 0.001003, Trans_RMSE: 0.031668, Trans_MAE: 0.021004, Trans_R2: 0.987919
A->B:: Stage: test, Epoch: 95, Loss: 0.035291, Feature_alignment_loss: 0.002519, Cycle_consistency_loss: 0.002184, Scale_consensus_loss: 0.000000, Rot_MSE: 29.005861, Rot_RMSE: 5.385709, Rot_MAE: 2.773478, Rot_R2: 0.827398, Trans_MSE: 0.001139, Trans_RMSE: 0.033752, Trans_MAE: 0.022302, Trans_R2: 0.986165
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 96, Loss: 0.015963, Feature_alignment_loss: 0.002486, Cycle_consistency_loss: 0.002654, Scale_consensus_loss: 0.000000, Rot_MSE: 16.637527, Rot_RMSE: 4.078913, Rot_MAE: 2.324991, Rot_R2: 0.901549, Trans_MSE: 0.001017, Trans_RMSE: 0.031897, Trans_MAE: 0.021110, Trans_R2: 0.987744
A->B:: Stage: test, Epoch: 96, Loss: 0.036689, Feature_alignment_loss: 0.002513, Cycle_consistency_loss: 0.002168, Scale_consensus_loss: 0.000000, Rot_MSE: 29.240986, Rot_RMSE: 5.407494, Rot_MAE: 2.778793, Rot_R2: 0.826035, Trans_MSE: 0.001248, Trans_RMSE: 0.035325, Trans_MAE: 0.023544, Trans_R2: 0.984843
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 97, Loss: 0.016030, Feature_alignment_loss: 0.002482, Cycle_consistency_loss: 0.002629, Scale_consensus_loss: 0.000000, Rot_MSE: 15.206112, Rot_RMSE: 3.899502, Rot_MAE: 2.324821, Rot_R2: 0.910165, Trans_MSE: 0.001043, Trans_RMSE: 0.032299, Trans_MAE: 0.021244, Trans_R2: 0.987433
A->B:: Stage: test, Epoch: 97, Loss: 0.035443, Feature_alignment_loss: 0.002488, Cycle_consistency_loss: 0.002179, Scale_consensus_loss: 0.000000, Rot_MSE: 28.813795, Rot_RMSE: 5.367848, Rot_MAE: 2.757340, Rot_R2: 0.828525, Trans_MSE: 0.001238, Trans_RMSE: 0.035190, Trans_MAE: 0.023433, Trans_R2: 0.984949
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 98, Loss: 0.015819, Feature_alignment_loss: 0.002487, Cycle_consistency_loss: 0.002633, Scale_consensus_loss: 0.000000, Rot_MSE: 15.068851, Rot_RMSE: 3.881862, Rot_MAE: 2.315337, Rot_R2: 0.910940, Trans_MSE: 0.000999, Trans_RMSE: 0.031600, Trans_MAE: 0.021029, Trans_R2: 0.987970
A->B:: Stage: test, Epoch: 98, Loss: 0.035630, Feature_alignment_loss: 0.002485, Cycle_consistency_loss: 0.002172, Scale_consensus_loss: 0.000000, Rot_MSE: 29.539967, Rot_RMSE: 5.435068, Rot_MAE: 2.787704, Rot_R2: 0.824195, Trans_MSE: 0.001131, Trans_RMSE: 0.033630, Trans_MAE: 0.022133, Trans_R2: 0.986269
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358
A->B:: Stage: train, Epoch: 99, Loss: 0.015971, Feature_alignment_loss: 0.002479, Cycle_consistency_loss: 0.002656, Scale_consensus_loss: 0.000000, Rot_MSE: 15.291389, Rot_RMSE: 3.910421, Rot_MAE: 2.312800, Rot_R2: 0.909688, Trans_MSE: 0.001032, Trans_RMSE: 0.032130, Trans_MAE: 0.021245, Trans_R2: 0.987564
A->B:: Stage: test, Epoch: 99, Loss: 0.035399, Feature_alignment_loss: 0.002507, Cycle_consistency_loss: 0.002171, Scale_consensus_loss: 0.000000, Rot_MSE: 29.296185, Rot_RMSE: 5.412595, Rot_MAE: 2.789558, Rot_R2: 0.825686, Trans_MSE: 0.001155, Trans_RMSE: 0.033982, Trans_MAE: 0.022388, Trans_R2: 0.985988
A->B:: Stage: best_test, Epoch: 70, Loss: 0.034207, Feature_alignment_loss: 0.002514, Cycle_consistency_loss: 0.002155, Scale_consensus_loss: 0.000000, Rot_MSE: 28.522974, Rot_RMSE: 5.340691, Rot_MAE: 2.761719, Rot_R2: 0.830283, Trans_MSE: 0.001124, Trans_RMSE: 0.033520, Trans_MAE: 0.022000, Trans_R2: 0.986358